Real-Time Control Non-blocking Code ( Arduino with LoRa )

I want to control Robot in Real-Time.

Remote control with LoRa is used to control the robot :
- Arduino Based
- LoRa Ra-02 455Mhz
- LCD 20x4

On the other hand, Robots:
- Arduino Based
- LoRa Ra-02 455Mhz

The remote should send and review data in real-time, there should be no delay.
if I press any button on the remote, the robot should immediately take action ( you don't need to do anything with action, only in the code put it as Serial print in the serial monitor to see the effect, the rest of the code I will handle ) robot data will be shown in the LCD.

The robot will also send data to the remote. assume that every 50ms will send data back to the remote, to keep the connection. the connection should be stable.

Note:
- There should be no interference between sending and receiving data.
- The communication should be secure and reliable.