No in my opinion there should be no additional delay whatsoever if you are using STUN. A working STUN configuration on your SIP device would open up all the SIP and RTP ports needed for calling to work.
Voxalot, when using a 3rd party provider, only works at the level of SIP signaling, to negotiate call setup and tear-down. The actual UDP stream of voice packets is setup directly between your IP and the destination IP of your provider, with no unnecessary middle-man introducing latency. At least that holds true when STUN is being correctly used. Voxalot acts as an outbound proxy (and a middleman) in the event that STUN is not working, which does increase latency, but the alternative is the call would not even work at all otherwise.
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