Since Indigo 7 we have a new function in the menu Interfaces - Z-Wave - Optimize Z-Wave Network...
First I ran this command several times - let's say ten times (repeated when finished to optimize).
The response times came down to 9 ms! Now I have an average response time that is below 50 ms.
To prevent a bad network I'm running this Python command every day (when I'm away):
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indigo.zwave.startNetworkOptimize()
It is important to know that most commercial products run this automatically every day (Vera, Fibaro, ...) The optimization or network heal can make the network slow when running. But it is obviously needed and intended by Z-Wave to maintain a stable mesh network.
Note: Battery operated devices will be optimized when waking up. They aren't as important for your network since they are not routing the signal. But of course their performance and battery life might get better.
I can't guarantee success for anyone, but maybe this helps someone.
If you have other tricks, comments or success stories feel free to add.