TLDR: Such pre-hashing is weaker, and slower on a standard computer.
Most serious security problem: in order to break the MAC with pre-hasing, it is enough to find two different messages with the same SHA-256 hash, and that's an offline attack (it requires a single query to a MAC oracle/device knowing the key). Such breaking of SHA-256's collision resistance could become possible¹ due to some combination of cryptanalytical and technological progress, like that happened for SHA-1. Absent cryptanalytical breakthrough and discounting quantum computers useful for cryptanalysis, that costs $\approx2^{129}$ compression functions (using distributed Pollard's rho with distinguished points). Contrast with the best known attacks against HMAC, which require a much less realistic $\approx2^{128}$ online queries (performing $\approx2^{129}$ compression functions), or a whopping $>2^{256}$ offline compression functions (for 256-bit key).
For just that reason, HMAC-MD5 remains practically secure when MD5 collision is totally broken (collision with chosen prefix is easy), and HMAC-SHA-1 remains practically secure when SHA-1 collision is very broken (collision is easy, collision with chosen prefix is feasible).
Another explanation of these facts: we have argument that HMAC is secure for weaker properties of the hash's compression functions than required for argument of collision-resistance of the hash: Mihir Bellare, New Proofs for NMAC and HMAC: Security Without Collision-Resistance, originally in proceedings of Crypto 2006, republished in Journal of Cryptology, 2015.
Pre-hashing is preferred due to the reduction in HMAC validation time on large messages as only the 32byte pre-hash would need to be run through HMAC validation (vs. the entire 1kB message).
No, the opposite, pre-hashing is slower on a standard computer. For a 1024-byte $m$ an $k$ at most 512-bit, $\operatorname{HMAC-SHA-256}(k,M)$ first hashes 512+8192 bits (18 blocks after padding), then 512+256 bits (2 blocks). Whereas $\operatorname{HMAC-SHA-256}(k,\operatorname{SHA-256}(M))$ first hashes 8192 bytes (17 blocks), then 512+256 bytes (2 blocks), then 512+256 bytes (2 blocks). That 2 blocks more, and one more each of hash initialization and finalization. Optimizations for repeated use of the key apply equally to both variants.
The one situation when pre-hashing would result in a speedup is when HMAC itself is implemented in a relatively slow secure device (like a Smart Card or HSM) in order to keep the key protected. In that case, pre-hashing is reasonable, and using SHA-256 for that is not unreasonable. But if performance matters, SHA-512/256 or SHA-384 is probably as better choice for the pre-hash: these hashes are faster on modern CPUs, the secure device won't make more SHA-256 compression functions, and (for SHA-384 pre-hasing, which arguably is more secure than either SHA-256 or SHA-512/256) performance overhead of transmitting 128 extra bytes to the security device is low.
¹ I'm not saying that's likely in next two decades; rather, the contrary.