RSM using cloak should be logically faster. Gai uses pure foot speed. He doesn't use Ninjutsu. Ninjas usually use Chakra around their legs to create a semi-teleportation like affect. In that regard, the ground isn't touched upon like Gai does.
Madara reacted to his movements just fine. It was only after air pressure from the "Elephant attack" paralyzed him that he couldn't move. Kakashi, Minato, Gaara and Lee could see him just fine. They even formed a coordinated attack. Without that coordination, Madara was still moving faster as the orb was almost closed.
