In practice, they require 8 ticks to move item from chest to chest, which is estimated 2700°/s or 3600°/s (depending on these 2 extra ticks) and not 2160°/s. Attaching recording of tick-by-tick inserter swing where it's clearly visible they're skipping one tick of rotation and instantly jumping to orthogonal state (and definitely not requiring extra ticks to pick up / drop item). Tested this with other chest-to-chest setups, result is the same -- 8 ticks per full swing.
Click to expand the recording
Funny enough, inserters being one tick per half swing faster than expected results in them having exactly the same throughput per unit of spacetime when moving items from chained wagons (aka cursed wagons) as two stacked turbo belts: 124962: [SA] Fastest (and cursiest) ways of transporting items