The PubSub client library are greatly optimized in several ways. The first one is the use of gRPC protocol instead of REST API. Then, there is message aggregation before a push to PubSub (500ms of wait by default). Then, there is various async mechanism to parallelize the processing.
So, a huge and great work done by the Client Library teams and hard (or expensive) to reproduce on your side. But you can, the sources are public, you can have a look to the client libraries!
The 30s for the access_token retrieval is too long. Are you sure that you haven't network issue? In any case, this token is valid for 1H. If you can reuse it in your subsequent call you will save a lot of time!
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