ROS2 Remote Desktop

Hello all I have been using ROS2 and setting up a nice rover. I am at the point now where I need to monitor somethings while its navigating. The Rover is using a jetson xaiver with a Wireless-AC8265 (2.4ghz and 5ghz) wifi and my remote computer is using LAN but both go through the same router. I can communicate fine with the demo talker and listner. However when I run all my nodes (Depth Camera, GPS, IMU, ect.) around 20 nodes my speed is drastically reduced. I already did the DDS tuning guide but still slow.

I wanted to get some advice from anyone on how to have a reliable and fast setup for a remote computer for ROS2