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From the comments of @tfoote, @gvdhoorn and @mike-scheutzow I think I understand what is going on.

1. Published transforms don't live forever: the default period when they get purged is 10 seconds.

2. Since my two frames are not directly connected in the tf tree, this comment made by @tfoote and re-emphasized by @gvdhoorn is important: "Using a timestamp of zero asks for the latest available data which is consistent across the full spanning set." which means that my rarely changing transform is chained together with some fast changing ones, hence "latest consistent" did not exist.

Thanks for the help guys.