Rate Control Subscription? Any other work-around or ideas?

ROS ROS General
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for this case, I suggest wait-set based subscription, see this topic Latency induced by timer chains, how to avoid them? - #7 by ZhenshengLee

and this New documentation on how to take a message from a subscriber without executing a callback function - #7 by takamine

wait-set based subscription this strategy has been adopted by autoware team from 202405, https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/topic-message-handling/

more example of waitset subscription can be checked in https://github.com/takam5f2/ros2_subscription_examples