no Radio Rx timeout after the Radio.Rx function called?

Yes, to false

Continuous mode is supposed to wait for actual data reception, when implemented properly the radio layer shouldn't be starting a timer. Also the timeouts are brute force, the receiver can be mid-packet and it will fire, and you'll lose that packet silently.

So yes, if you want non-continuous operation, with timeouts, set rxContinuous false.

Also remember when you're not listening for packets, you will miss them.

A walk of the radio stack is strongly recommended.