In a simple test, I'm observing ~30% higher CPU usage with the ARWorldTrackingConfiguration compared to the ARBodyTrackingConfiguration when both configurations have AREnvironmentTexturing enabled.
In Instruments, I observe Recon3D consuming ~5.5 seconds of CPU time with the ARWorldTrackingConfiguration vs <0.3 second with the ARBodyTrackingConfiguration in two separate 30 seconds samples.
This is on an iPhone 12 Pro equipped with lidar.
Is there a reason why two separate configurations, both having the same features enabled would have a different CPU overhead?