I do not know any benchmark that would measure that. It would also be quite challenging to compare to SaaS like Pinecone (it should be running on the same infrastructure to have comparable results). When it comes to Milvus, as far as I know, they use prefiltering for filtered search (https://github.com/milvus-io/milvus/discussions/12927). So they need to store the ids of matching entries somewhere during the vector search phase, possibly even all the ids if your filtering criteria do not exclude anything.