It should be noted that unless you're a Buso specialist like Vergo, using Haki in large quantities makes it run out much quicker than normal:
So if Kidd could somehow draw the fight out, he may be able to catch Queen, but then again, Queen doesn't have to have his Buso active the entire right, but only when Kidd will attack which he can use Kenbun to find out.
Before yall jump me and state that Queen never used his haki like that in his fight against Sanji, here is what I have to say to you.
NEVER USE QUEEN'S FIGHT WITH SANJI TO DECIDE WHAT IS OR IS NOT IN CHARACTER FOR QUEEN
And here's why:
At the formal start of their fight,
Queen states that he wants to show Sanji the power of his CYBORGIFICATIONS. The reason he did this was because he saw Sanji as a mini-Judge, and he felt insecure, so he wanted to one-up both Judge and Vegapunk by defeating Sanji (who he saw to be Judge as seen with him only calling Sanji "
Son of Judge/Judge's Son" despite Sanji telling him not to call him that) with his Mech. This is further backed up by
this dialogue in chapter 1034 where Queen pretty much sums up what I'm saying.
Queen's lack of haki showings during this fight was not due to him not being good at it or him not using it in character in real fights, but it's because he wanted to prove a point to himself and to his former colleagues at MADS.
Because of the circumstances of Queen's fight, I don't think we can translate that to any other match we have, so in this case, it makes most sense to just say that Queen has proficient usage in haki and can and will use it if necessary.