I haven't used the zoom g5n personally. But the latency you get is just a fact of life when it come to audio recording.
You can however adjust how much latency you record with. The setting that you are looking to adjust is called "buffer size" , the smaller the buffer the less latency, but it can cause clicking and pops if set too low and the cpu cant keep up. It's a balancing act.
Went camping at a festival my band was playing at. I had a woolen cloak as part of my costume. Everyone was shivering. I was loving life.