Note that Copper can be distributed too, we do support iceoryx2 for example if you need to split it in 2 or more processes.

We have ~100x less latency and ~12x faster logging also because we have adopted a data oriented architecture: the tasks outputs are written back to back in memory, all the IOs are linear (we could log to a block device straight, we don't even need a filesystem). I am not sure it is possible to touch this with ROS just because of its "everything is asynchronous" design pattern.

So the question is more about those limits in practical applications: do you have use cases where you absolutely need every single component deployed as a kind of micro service in a robot?