Yes, as a security measure, macOS Catalina sends some small info (can be seen by packet size) about unsigned executables to the Apple servers.
A simple C program as illustrated in ..
.. can demonstrate the lag in startup on poor internet connection conditions.
The article has detailed observations, tests and commentary on the process.
You can block the macOS or specifically syspolicyd
process from connecting to the internet, and it won't hinder its normal functioning locally, using a firewall.
I use LuLu, since it's free. A lot of people use Little Snitch.
Many other apps also ping their servers on startup or quitting: Firefox, Adobe, Sublime Text etc.
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