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After some further testing I think I finally found the reason for the considerable difference in the message rate between ros2 topic hz and my custom C++ subscriber.
As it turns out, ros2 topic hz uses Sensor data QoS profile, while I used Default QoS in my C++ Subscriber.
If i change the QoS setting to match ros2 topic hz, the results are comparably low.
So this issue appears to be more related to proper choice of QoS settings and not specific to ros2 topic hz. However, it points out, that measuring message rates with ROS2 CLI might be ambiguous, as the actual rate depends on the QoS settings of the subscriber.
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