Velocity-jump models for the individual-based simulation of chemotaxis of bacteria with internal dynamics are discussed. We analyze a fine-scale process with internal dynamics, and a simpler process associated with a kinetic description. We first show that, in a diffusive asymptotics, both processes converge towards the same advection-diffusion process. Subsequently, we couple the jump times of both processes and analyze the variance of the difference between the two solutions. We show that this coupling yields an ``asymptotic'' variance reduction (control variate), in the sense that, in the diffusive asymptotics, the difference between the two processes has a variance which vanishes with the small parameter. Finally, this coupling is used to construct a ``hybrid'' scheme with reduced variance, by first computing a deterministic solution of the kinetic density description, and then simulating the coupled processes to evaluate the difference with the exact solution with internal dynamics.