There will always be a small additional call time added when using Firefly actions to access the AEP query service. It is another layer between the client and the data. That being said it should be a small addition when compared to calling query service directly.
It depends on your use case but the value added by using Firefly Actions is the ability to use the State and File storage layer to do caching of data.
Please see this thread on caching of data
https://experienceleaguecommunities.adobe.com/t5/project-firefly-questions/action-result-max-size-and-good-practice/qaq-p/416323
It depends on your use case but the slight call time hit might be worth it if you can cache some of the data and increase your applications response time greatly.