If anyone else was wondering, I found this neat data table of controller latencies to compare:
https://rpubs.com/misteraddons/inputlatency
It looks like 18.35ms is not really among the best, but there are still lots of products in that range.
I dunno if I'd say your project didn't work out... Maybe more like you succeeded but still have work to do. Do you think you'll try swapping the Bluetooth for a 2.4Ghz module or something and see if that performs better?