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My guess is that it's more a function of covariance values. They don't look terrible at first glance, but I'd have to see it in action. Some lag is to be expected - it is a filter, after all - but it shouldn't impact overall accuracy, and certainly should result in overshooting to that level (assuming that's the cause of the overshoot).
Can we step back and simplify the setup? Can you just run the first-tier (odom) EKF and compare the pose to the OptiTrack pose? I realize the frames won't agree, but you're more concerned with lag in starting and stopping.
BTW, I assume you have a base_link -> base_imu_link specified somewhere?
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