I would try taking the TPU out of the pi and installing it directly on the BI machine running CP, unless it is USB, then I'd order the correct M.2 Coral for your machine. I went the route of a cheap PCIE adapter card to hold the TPU.
My response times where <60ms, now about 150 because I changed the model size. Without the TPU, my CPU usage was spiking to levels bogging down the system. Fixed that by using IVS detection first on cameras in a windy area so they wouldn't constantly ping, but I did not like the fact that it went that high. For S&G, I tested the Coral without IVS on a windy day and with constant pings, it barely effected the BI system, however, still don't want to do that because if Coral is busy dealing with a flood of false alerts, a simultaneous request from another camera could time it out. My first line of defense was fine tuning IVS and BI motion detection where I'm using it to send what is necessary over to AI for processing.
I don't have a dedicated GPU to compare to Coral, but this cheaper and more power efficient route convinced me not to bother.
Even if it is working the way you have it configured, I think your response times are so high BI is timing out waiting for it. You could change the timeout variable in the settings screen, but still, those response times are so high I'd find the root cause.