Optimizations in pybricks

[techcatgato]

Hi all! I am almost done with the current project so now I am looking for the "nitty gritty" rather unknown optimizations for the following

1. Motor distance encoder
2. More accurate motor movement
3. Drivebase movement
4. Color sensor accuracy
5. Imu accuracy, particularly heading and angular velocity
6. Generally get things to execute faster, especially math and logic.
   Please tell me if you have any tips or tricks for these, thanks in advance.