I use my local router as a DNS cache/proxy for this exact reason, though i doubt 12ms (or 24ms) will mean much in the grand scheme of things compared to downloading a 25MB webpage which is mostly tracking code and ads.
Yes, if we were in the "good old days" of slim websites, 12ms may be noticable, but today, with webpages taking up lots and lots of storage that is served with every connetion, i seriously doubt you'll notice.
Besides that, every browser and modern operating system will cache DNS records for whatever the TTL from the upstream DNS is set to.