Last I looked (several months ago), Linux's UDP stack did not seemed well tuned in its memory management accounting.
For background, the mental model of what receiving network data looks like in userspace is almost completely backwards compared to how general-purpose kernel network receive actually works. User code thinks it allocates a buffer (per-socket or perhaps a fancier io_uring scheme), then receives packets into that buffer, then processes them.
The kernel is the other way around. The kernel allocates buffers and feeds pointers to those buffers to the NIC. The NIC receives packets and DMAs them into the buffers, then tells the kernel. But the NIC and the kernel have absolutely no concept of which socket those buffers belong to until after they are DMAed into the buffers. So the kernel cannot possibly map received packets to the actual recipient's memory. So instead, after identifying who owns a received packet, the kernel retroactively charges the recipient for the memory. This happens on a per-packet basis, it involves per-socket and cgroup accounting, and there is no support for having a socket "pre-allocate" this memory in advance of receiving a packet. So the accounting is gnarly, involves atomic operations, and seems quite unlikely to win any speed awards. On a very cursory inspection, the TCP code seemed better tuned, and it possibly also won by generally handling more bytes per operation.
Keep in mind that the kernel can't copy data to application memory synchronously -- the application memory might be paged out when a packet shows up. So instead the whole charging dance above happens immediately when a packet is received, and the data is copied later on.
For quite a long time, I've thought it would be nifty if there was a NIC that kept received data in its own RAM and then allowed it to be efficiently DMAed to application memory when the application was ready for it. In essence, a lot of the accounting and memory management logic could move out of the kernel into the NIC. I'm not aware of anyone doing this.