Hi @LoreGen, welcome to the forum 
Are you using our companion image, or have you installed the bluerobotics-ping python library and are actually using pingproxy.py as you mentioned?
We normally use ping360_bridge_manager.py on our companion computer, which runs a compiled bridges program, which has decent results for me:
If you’re not using companion and are for some reason unable to use the bridges program then if you installed bluerobotics-ping through pip or before yesterday then it might be worth installing from source on the master branch instead - we added some performance improvements to it yesterday that should at least speed it up a bit (max ~27% I believe, so not really comparable to compiled speeds but still better than current), but they’re not yet in an actual release (on either PyPI (for pip) or GitHub).