RAFT can easily be tuned to handle any amount of latency. It even discusses this in the paper. The issue is “how long are you willing to be in a leaderless state” and for some applications, it’s very tight. If your application needs a leader to make a distributed decision, but that is currently unavailable, the application might not know how to handle that or it might block until one becomes available causing throughput issues.

However, you shouldn’t be using TCP for latency-sensitive applications IMHO. Firstly, TCP requires a handshake on any new connection. This takes time. Secondly, if 3 packets are sent and the first one is lost, you won’t get those last packets for a couple hundred ms anyway (default retransmission times). So you’re better off using something like UDP. So, if you need the properties of TCP, you aren’t doing latency-sensitive anything.