I might be wrong, but I believe the motor update is still on a 400hz cycle. It could be higher because instead of having to wait 2ms in a cylce to complete it is a message on a bus but..
Regarding the telemetry: on v2 esc32 the current, the duty cycle, the phase voltage, the status (disarmed, armed, error), number of errors and last error
on v3 esc32 also the temperature