Unfortunately, this is the type of real-world problem that isn't well taught (or even documented).

We are all taught from uni about how concurrency is implemented and most applications use concurrency as a design-tool to decompose a problem into its functions.

Unfortunately, this tends to produce a sub-optimal result as the inefficiencies become visible on small embedded/real-time systems.

Its difficult to give any general advice, but have a look at real-time analysis to get an idea of the real issues.... and don't blindly throw tasks at a problem when a simple superloop is more efficient/simple/maintainable.