A method is disclosed for autonomously discovering and utilizing low-latency routing paths in a distributed data routing network. The method includes automatically measuring one-way latencies between a plurality of nodes, and automatically calculating relay health scores of potential relayed data routing paths in the distributed network. A relayed data routing path is automatically selected based on the one-way latencies and relay health scores of potential relayed data routing paths. A relay health score for a potential relayed data routing path is based on uptimes of the potential relay node, or bandwidths, jitters, data package losses, or amount of data routed through the routing segments in the potential relayed data routing path. The selected relayed routing path has a routing health score that meets a pre-determined criterion. The selected relayed data routing path has a total one-way latency smaller than a one-way latency associated with in a direct path.