I am able to reconnect to the router in just 1.1 s after deep sleep without DHCP, but average 2.4 s with DHCP, so I would like to avoid connecting with DHCP until it is time to renew the lease.
I have not been able to find any information related to this in the official documentation or in this board or others. I am sure the ESP receives the information as part of the ACK from the DHCP server on the router as specified in the RFC.