undefined delay of pixel data from image sensor
Yes, that CPU includes a "ITU-R BT. 601/656/1120 Image Sensor Controller" that is capable of interfacing directly with that sensor.

You will be dealing with a parallel bus that is running at 74.25 MHz, which will require some care in the PCB design, but not any more than the 166 MHz external memory bus of the CPU. Probably not a problem for someone used to dealing with 0.4 mm to 0.8 mm pitch BGAs.