Distance measurement sensor ESP32 and ESP NOW

We are developing a simple distance measurement and anti-collision solution between 2 equipment. In addition to measuring distance, the 2 units will also communicate wirelessly (RF) and inform its counterpart the value of distance measured by itself. When the distance between the 2 units is less than a preset value, certain GPIO pins will go from LOW to HIGH. Below is a basic diagram of the application. It will also involve ESP-NOW communication between 2 ESP32 MCUs. Pls see the attached documents for complete scope or work.