Unfortunately, there really isn't a way around this... in Java at least... Your best bet would be to use the JNI, find a C/C++ BT library and write it in native code.
How large are your messages? Can you trim them down and/or can you keep to only sending when needed, and predicting movement/behavoir when waiting for a message?
If you've ever noticed this is what online games have done for years due to latency etc. When you see a character run sometime they will "rubber band" when stopping or changing direction. That's because the actual position data just caught up with the predicted position.
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