[Commandman7]

Last year, we had a linear relationship between camera bandwidth and latency, so turning down camera quality and framerates can help a lot. 10 FPS with lower latency is surprisingly usable compared to 30 FPS with higher latency. I'm not sure if you've done this / can do this, but if you are using a camera that supports H.264 encoding like the Logitech C920 series, you can do H.264 encoding on the camera itself, which takes a lot of the load and latency off the Roborio.