Does there exist hardware/software that allows guitar to play synth sounds with zero latency?
You can’t have zero latency because you have to watch the string vibrate for a bit to figure out what its frequency is. However, the latency is quite manageable (IMHO) with systems like a GM-800 (I have one):
Their two products are BOSS - GM-800 | Guitar Synthesizer and BOSS - VG-800 | V-Guitar Processor
There were some systems that might have been faster (that could tell both the string and the fret), but those have been abandoned from what I can tell.
There is at least one all-software system, but I’ve never tried it, but it might be worth your consideration:
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The EHX pedals, synth9 etc are pretty sharp