Canon's cameras work (or have worked, the 1DX and 5D Mark III are a tad different) so, that when using Servo AF, you can set the camera to release priority. That implies that between every shot, the AF system gets one chance, and that's only one, to measure and compute desired lens focusing setting, send the focusing command to the lens and run the lens' AF motor once to correct the focusing error that's present. That's it. If any of these parts of the sequence failed, like couldn't measure distance properly, the image will be out of focus. But it will be taken.
Then you can set focus priority instead. If you do, the camera will try one AF attempt, but if that one fails, it may try a couple more times, to eventually either fail or succeed. Regardless, the picture is taken now too. Thus it may still be out of focus, but chances that it's in focus has increased, since more attempts to set focus are allowed.
The newest cameras have an intermediate setting too, but the principle is the same.
Thus, if you don't set priority to release, then the time between two shots could very well vary from one shot to another. That depends on the conditions for the AF to work with. Aim at a nice, black line across well lit white paper and it'll probably rattle away just as fast as with manual focus.