system_latency_compensation when using moveit servo

[we4rd]

When using MoveIt Servo together with a UR5 CB3 robot on ROS 2 Humble we noticed a delay of ~35 ms between changes of joint angle commands in a forward position contoller and changes in actual joint angles according to the joint_states topic. I noticed the system_latency_compensation parameter in the ur_servo.yaml file in this repository. As I was wondering how this parameter is used by MoveIt!, I looked into servo source code in humble. However, I was unable to find it. In addition, I noticed PR#2594 in the MoveIt repo, which does something similar using a max_expected_latency parameter, which seems to be merged into the Jazzy version. Therefore I have two questions:

1. Can someone point me in the right direction how this system_latency_compensation is used (if at all)?
2. Are there any suggestions to further reduce this observed latency, or is the fudge factor the way to go?