As far as VLAN is concerned, my only use of it is separation and blocking of 3 untrusted ones from LAN access.
If you can isolate those untrusted devices to single router port, then it would be beneficial to use that port as stand-alone port for separate subnet ... that way you wouldn't need VLANs and hence there would be no performance hit when using ROS v6.
If you have to keep using VLANs, then ... as soon as you enable
vlan-filtering=yes on bridge, L2 (switching) HW offload is lost and then it's up to CPU-bound bridging. Mind that bridging is much easier on CPU than routing, but it's still a hog. While it is possible to get at wire-speed throughput between a pair of bridge ports, that's not possible to reach simultaneously on all ports (due to switch-CPU interconnect bottleneck) and CPU will be heavily loaded (thus eating into routing throughput).