I can confirm there are no additional pen tips. The Note 10 tips are the same dimensions. I actually switched my black one to a grey one for contrast against the pen and screen. In the photo, the tip in the middle is from the Note 20 Ultra. The bottom is from the Note 10+. The one on the top is from a Note 9. The pens between the Note 20 and Note 10 are dimensionally identical.
As for latency, I don't know if the different pens will have a difference. But the to should not as the tip only transfers pressure to the pen to let it know there is contact and how much. I don't know if the pen latency is designed into the pen, the phone, or both.