No lag! Make sure you are running a Class 10, U3, V30, A1 micro sd card. That makes a huge difference.
When I first set up my Pi 3B+ I noticed some camera lag, stuttering and timeouts. Once I switched to the better card it cured that. The camera resolution is better too. The right card makes all the difference. I learned that one fast. When I switched to the Pi Zero 2 W, I got the better card right off the bat.
If you are looking to buy a Zero 2W, retailers are price gouging them on Amazon and Ebay. You can get them through Raspberry Pi's official retailers for $15.
Note: the Pi Zero 2 W is the only Zero model that has a 1GHz, quad core, 64 bit processor, which is needed to run Octopi. The other Zero models have single core 1GHz processors and not compatible with Octopi.
That's awesome... I could never imagine trying to run a printer without Octopi.