Hi Abdellahkafi
regarding "time needed to access peripherals registers" - general answer
this is caused by bus arbiters, like NIC301 in i.MX6 processors, similar modules
are used in i.MX8 processors. Good latency description can be found in
sect.3.4 NIC transfer latency AN4947 "Understanding Vybrid Architecture"
https://www.nxp.com/docs/en/application-note/AN4947.pdf
So 150 ns for toggling GPIO by directly writing to the dedicated register may be
considered as normal.
Best regards
igor