My Sony TV has android and is fairly responsive. Maybe a second lag, but definitely not 10-20 secs. I do need to give it time to “warm up” when I start it, though. I use it so rarely it’s generally turned off from wall outlet.

I still prefer Apple TV for various reasons, though, responsiveness being one of them.

Maybe a second lag

Even a second lag is insane. I don't understand how people tolerate that.

Sony TVs are some of the most sane options in the TV market right now. Generally decent, and they don't fight you if you want to use them without connecting them to the internet. Still not perfect and they'll cost you more, but it's a worthwhile trade to me.