Not sure about your versions, but for libmDot 14 I’ve been using mbed 121 and mbed-rtos 110 as the latest version combinations that work without error. Later versions of mbed-rtos wont compile at all.
There may be some delay in instantiating the libmDot library depending on what join mode you are using. If using AUTO OTA then this is likely to be reading the preserved session data from flash. You might like to try different join methods and see if this makes a difference, for example MANUAL might be quicker, but without access to the code we cant see exactly what its doing internally.
If you’ve saved the config then I wouldn’t expect you’d need to set the TxPower, AntennaGain and Ack each time.
Andrew