DHCP won't slow you down much. Once your devices have an address they will only talk to the DHCP server at refresh time (50% of lease time) or if they are forced to do a refresh via a boot etc.
Otherwise the devices will talk to each other via the switch, if both devices are 1Gb, then you will not be slowed (you'll never really get 1Gb).
They don't keep talking to the DHCP server.
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