The difference between "stateless" and "unmanaged" is simply that "unmanaged" only sets the IPv6 adress, but nothing else - thus, the default gateway is not distributed via RA, neither are the DNS domains nor the DNS servers.
I doubt that RA intervals of 3 seconds should be neccessary. It wounds more like you have another source of RAs sent to your network which interfere with your OpnSense RAs. It would explain why sending RAs at a smaller interval helps...Are you sure that there is no other instance running? You already wrote that your OpnSense is a VM.