Thanks guys for the answers. Yes, I think this is the same problem and from other topics on kivy/issues I understand that this started in 1.9.1. However, the error is quite old and I don't see any upcoming solution.
I was not precise in my initial thread: the event actually works after continuous 20-30 touches. Sometimes faster, sometimes later. I tested my app on 3 other devices and Galaxy S6 is the only one affected. It might be related to the high density screen, but not sure yet. The fact that this appears in the Showcase makes me thinking that it's just a kivy problem.
I also noticed that the Showcase TabbedPanel example works fine, but their implementation is a bit different: they use on_release in their kv, while I followed documentation (
https://kivy.org/docs/api-kivy.uix.tabbedpanel.html) without specifying any on_ methods. I just rely on TabbedPanel's on_touch_down method.
Damien, I will do the logger as soon as I can (I'm currently traveling), but since this is only visible on Android, how would you implement it? As a print to a Label on the screen to see where the delay is actually created?