How to additional controlled fake/artificial input delay/lag?

I have been working on small unity and C# based projects but I have run into a problem. I want to add a lag/delay to the input the user gives before it takes effect. For example, in my case I would like to add a controlled value of additional lag (like 250ms or similar) to the user input. Therefore when the user presses the left turning button (A in this case), the effect wont be reflected on to the car till the lag time has ended. I couldn't find anything similar to this issue online.

TLDR: Basically I want the user to feel like they are driving a car that is following their controls after a set time difference

PS: I wondered if just adding a delay like WaitForSeconds() would help but I want the the inputs entered during the delay period also to be recorded and executed.