As the author cited, kernel context switch is only on the order of 1 us (which seems too high for a system call anyways). You can reach 500 MB/s even if you still call sendmsg() on literally every packet as long as you average ~500 bytes/packet which is ~1/3 of the standard 1500 bytes MTU. So if you average MTU sized packets, you get 2 us of processing in addition to a full system call to reach 4 Gb/s.
The old number of 1 Gb/s could be reached with a average of ~125 bytes/packet, ~1/12 of the MTU or ~11 us of processing.
“But there are also memory copies in the network stack.” A trivial 3 instruction memory copy will go ~10-20 GB/s, 80–160 Gb/s. In 2 us you can drive 20-40 KB of copies. You are arguing the network stack does 40-80(!) copies to put a UDP packet, a thin veneer over a literal packet, into a packet. I have written commercial network drivers. Even without zero-copy, with direct access you can shovel UDP packets into the NIC buffers at basically memory copy speeds.
“But encryption is slow.” Not that slow. Here is some AES-128 GCM performance done what looks like over 5 years ago. [1] The Intel i5-6500, a midline processor from 8 years ago, averages 1729 MB/s. It can do the encryption for a 500 byte packet in 300 ns, 1/6 of the remaining 2 us budget. Modern processors seem to be closer to 3-5 GB/s per core, or about 25-40 Gb/s, 6-10x the stated UDP throughput.