You can do this with an Alexa routine. I know you didn’t mention an echo device but you don’t need a physical echo device to set up an alexa routine.
I also have a kasa switch. I would say it’s a fair bit faster than IFTTT. You can set the delay to whatever you like. You can also specify a duration to suppress the command. I.e. Motion detected turn on light suppress for 20 min so the next earliest time it can run is 20 min later.
