On Windows DNS/UDP/WiFi to 8.8.8.8 with query=www.google.com is 3-4ms
TCP is around ~10ms including overhead, 3ms excluding.
TLS is ~100ms including overhead, 5ms excluding.
1.1.1.1:
udp - 5ms
tcp - 15ms / 10ms
tls - 70ms / 4ms
Use a sniffer (e.g. wireshark) to get a better idea for timing, I wouldn't count on dig for that.