Second: once the binary has been checked for malware it won't be checked again.
Third: if the connection fails immediately the malware check is skipped immediately. So if you are offline or otherwise force the relevant server DNS names to be rejected immediately it shouldn't wait for any timeout.
Fourth: anything you build with the Xcode UI is automatically excluded since you are using the user interface and explicitly asking to run "unknown" code.
Fifth: Anything listed as a Developer Tool in Privacy will have its child processes excluded from GateKeeper scanning. This command will make the category show up and put Terminal in it:
"sudo spctl developer-mode enable-terminal"
Once it shows up there go to Privacy and check the box to enable Terminal.
If you run CI or automation you can do the same by putting your Jenkins or other binary in the list, causing all subprocesses to be excluded.