Thiqal ʿalā al-lisān is a sense of heaviness on the tongue, while ʿusr al-nuṭq is actual difficulty in articulation. Together they describe the same phonetic issue.
Certain sequences require awkward shifts between points of articulation. Slowly managing a word once is different from using it fluently in speech.
The number of letters is not an adequate test. The arrangement and interaction of sounds matter more.