How to analyse latency problem ISR to task

Yes, this can be done. Here is how you do it - RTOS task notifications - FreeRTOS™.

You should still figure out which task/ISR is running in between the 2 subsequent ISR callbacks. As @RAc suggested, using tracelyzer would likely reveal what is going on here. Percepio has a free version also - New free trace tool from Percepio.