Seems that your game makes it as simple for the CPU as it can get. With those settings it should be much faster.
If that is so, the only remaining thing to do is to start experimenting into video drivers to take advantage of GPU. Wrong OpenGL libraries can be also affecting performance.
Also, for finding "parasite processes", open a remote terminal from your desktop computer while you run your game in the pi, and enter htop (maybe need to install sudo apt-get install htop). You can see which resources are being used, memory, CPU, Etc. Probably you have used it. If not, it is kind of a task manager for Linux.
As far as I know drivers are configured via overlays, in the /boot/config.txt file. Of course it is a matter of experimenting but having the wrong driver really can slow down a graphics.
All that said, the only time I changed a driver for the raspberry pi 3 is to use a small display with touch screen. With the 3b+ never used Buster, but with Raspbian Jesse I had much better performance than yours, with my actual games using physics or with any of the TGC demos.
Check these links:
https://magpi.raspberrypi.com/articles/raspberry-pi-3bplus-specs-benchmarks
https://forums.raspberrypi.com/viewtopic.php?t=317511
https://github.com/raspberrypi/linux/blob/rpi-4.1.y/drivers/media/platform/bcm2835/bcm2835-camera.c#L677
https://github.com/ssvb/xf86-video-fbturbo
https://raspberrypi.stackexchange.com/questions/64079/how-can-i-setup-the-video-graphics-on-the-raspberry-pi-3
EDIT: I just tested in my pi3B+ with Raspbian Jessie and all the AppGameKit example projects, including games, physics and bone animaton run at 59.xx FPS. My game runs between 55-58 fps.
In the /boot/config.txt all overlays are commented, meaning are at the default settings. HDMI settings are commented as well. gpu_mem is 128
Let's go to Mars