Eeschema UI blocks for ~10s for each component chooser selection

KiCad V6 is not coming that soon. It can still be about half a year, but that was what I thought 7 months ago too.

KiCad-nightly V5.99 is not a finished product.
Nightly versions are a common practice for open source projects. It is a way in which normal users can help with finding and reporting bugs.

Once a project is saved in KiCad-nightly V5.99 you’re committed. File formats have changed significantly and there is no (easy) way back to V5.1.x for that project.
If you are a company and your livelihood depends on a properly working KiCad, then it’s probably not a good idea to migrate now.

All that said. KiCad-nightly V5.99 is getting quite usable, and (most) bugs are getting smaller, though it still happens occasionally that a bug is introduced that makes KiCad unusable (which usually gets squished in one or two days).