Z-Wave slow to respond, message "Timed out ... ZW0201"

My small Z-wave setup was working well, then started responding slowly. Typical delay is 6-8 seconds but occasionally longer. I have HA 2025.11.1 with Z-Wave JS UI 5.3.2 running on a Raspberry Pi 3B with an Aeotec Z-Stick 10 Pro on a 1m USB extension lead. Significantly, two Shelley Wave Shutter (QNSH-001P10) curtain controls work without any delay. However, three Shelley Wave 1 (QNSW-001X16) light control relays all exhibit similar delays, with the same error with “CNTRLR [Node nnn] Timed out while waiting for a response from the node (ZW0201)”.
All three relays are 1 or 2 hops from the stick, the closest is less than 2m away. All indicate 100 kbit/s connections.
I do not know when the delay started, because most actions are automated. Best guess is within the last couple of months. Any ideas how to debug/fix this most welcome.

same for me.