As the title suggests, has anyone setup and used one of the DMA channels on either of these devices? If so, is/was there a way to characterize how long it takes to read a register after the DMA trigger?
It depends on how the arbitration is setup and the code. See sections 7.1 and 7.2 in the datasheets.
There are some typical examples shown in sect 16.8 but I think these all assume that DMA can get the bus.