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You are not using the API in the intended way. If there's a chance the transform might not exist yet, you should first test the content of the tf_buffer using method canTransform() or call waitForTransform(). See:

https://docs.ros2.org/foxy/api/tf2_ros/classtf2__ros_1_1Buffer.html

You It does seem odd that 50 milliseconds is not enough time if you've actually published the transform.

Anyway, I'd say you are not using the API in the intended way. If there's a chance the transform might not exist yet, you should first test the content of the tf_buffer using method canTransform() or call waitForTransform(). See:

https://docs.ros2.org/foxy/api/tf2_ros/classtf2__ros_1_1Buffer.html