Large Language Models (LLMs) have demonstrated powerful reasoning capabilities through Chain-of-Thought (CoT) in various tasks, yet the inefficiency of token-by-token generation hinders real-world deployment in latency-sensitive recommender systems. Latent reasoning has emerged as an effective paradigm in LLMs, performing multi-step inference in a continuous hidden-state space to achieve stronger reasoning at lower cost. However, this paradigm remains underexplored in mainstream generative recommendation. Adapting it reveals three unique challenges: (1) the gap between prior-less Semantic ID (SID) symbols and continuous latent reasoning - SIDs lack pre-trained semantics, hindering joint optimization; (2) representation drift due to a lack of reasoning chain supervision; and (3) the suboptimality of applying a globally fixed reasoning depth. To address these, we propose LASAR (Latent Adaptive Semantic Aligned Reasoning), an SFT-then-RL framework. First, we bridge this gap via two-stage training: Stage 1 grounds SID semantics before Stage 2 introduces latent reasoning, ensuring efficient convergence. Second, we mitigate representation drift through explicit CoT semantic alignment. Step-wise bidirectional KL divergence constrains the latent reasoning trajectory using hidden-state anchors extracted from CoT text, while a Policy Head predicts per-sample reasoning depth. Third, during the GRPO-based RL phase, terminal-only KL alignment accommodates variable-length reasoning, and REINFORCE optimizes the Policy Head to dynamically allocate steps. This nearly halves the average latent step count while simultaneously improving recommendation quality. Experiments on three real-world datasets demonstrate that LASAR outperforms all baselines. It adds marginal inference latency and is roughly 20 times faster than generating explicit CoT text.