I have not tested so please table this with a grain of salt, but as far as I know, performance for node retrieval functions is something like the following:
get_child
get_node (Shorthand: $)
get_node_or_null
get_children
find_node
(The top item is fastest, bottom is slowest)
That seems to be the order in my experience, though I try to cache my node retrieval code whenever possible, so I have not really had any performance issues relating to node retrieval (or none that I remember).
I would say that so long as you are not getting retrieving several dozen nodes every frame and/or have limited CPU process to work with, which function you use shouldn’t matter too much as they are all relatively close to each other performance-wise.