My understanding is that Zod performs synchronous operations to validate the schemas. Something about "using the tool correctly" resonates here. Maybe don’t validate very large and nested schemas frequently and things like that.
But I can’t help but think it is adding another layer of potential footguns that you have to be mindful about. Maybe the benefits outshine the risks in disciplined teams that understand both the tool and the runtime. However I can’t help but think about the less disciplined teams abusing Zod and then wondering why things are slow.