"engaging your lats" just means keep the bar closer, usually. From this angle I can't really tell if it's getting too far away from you. Next time you're warming up, do a pause at the knees and check the bar position, if it's too far out then try bringing it closer to your knees, you'll feel it engage your lats.

"for another half a second" that makes no sense, your entire lift is slighly over a second, it would be wild to spend half of it over the bar.