Is it possible to add something like a delay to a constraint (e.g. Transform or Copy Loc / Rot) or to a driver?
For example, a driver should copy the rotation of a target which it had 10 frames ago. At the moment I'm using a scripted expression for copy rotation.
bpy.data.objects['Armature'].pose.bones['Bone'].rotation_euler.y
But this, of course, is only the rotation in the actual frame. I would not use any keyframes.