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This is far from an answer but I thought I'd share how I worked around this issue.
The reason that solving that delay was necessary was because I was relying on data that was provided as part of the goal's feedback message. This feedback was always available in the system and didn't need to be the goal's responsibility, so I exposed a new node that streams the same data. I now subscribe to that all the time and only rely on the goal for its result message, which always arrives right when we expect it. The goal still has a delay in init but this is no longer a bottleneck.