When 2 miners find the nonce and mine the block nearly at the same time one of these blocks become orphan. All energy spent in the orphan block is literally wasted.
As energy consumption is a hot topic today, one more reason to keep block time at 10 minutes to minimize orphan blocks
It is quite inevitable for the stale rates to increase(?) given any changes in those parameters. Time taken for validation of blocks should be a second, max and the propagation delay should be very insignificant as well. The stales should only increase (to an appreciable extent) if the miners are not interconnected well enough, or if blocks are always mined before the majority of the miners received and validates the transaction.
It simply doesn't make sense for us to stagnate the current parameters, because Bitcoin simply won't scale, on-chain that is. Orphan rate isn't an issue by the way, orphans and stales are different.