Ok - then you might be at about as good as it's gonna get.
The only things I have found in some investigations I did in getting the best I could out of a couple of machines was:
[1] for some reason the Debian 10 iso gave me terrible results. I did a build using Mint 19.3 and install an RT kernel per this thrread:
forum.linuxcnc.org/9-installing-linuxcnc...nd-easy-installation
and i got a significant improvement. This may have been a quirk of my h/w.
[2] if you really want to get lower latency you might need to consider going to an earlier version of linux with an RTAI kernel. I'm not sure if there is a stable RTAI kernel on Debian 10.
There is of course nothing stopping you trying software stepping with that latency but its not an area I have played in so can't really comment on how things will go.
Cheers - J.