Asynchronous or synchronous socket server for a real-time application

I am currently developing a C # socket server that needs to send and receive commands in real time. The client is an Android device. Real-time requirements are currently β€œsoft”, but more stringent time requirements may arise in the future. Suppose in the future it can be sending commands to a crane, which can be potentially dangerous.

The server is working and seems to work very well with my current synchronous socket server design. I have separate streams for receiving and sending data. I am wondering if there would be any reason to try an asynchronous approach to the server socket? Could this provide greater stability and / or better performance?

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