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If you find you're running the serial connection at maximum speed and it's still not fast enough, try switching to a more compact binary encoding that has both Serde and Arduino implementations, like MsgPack... though I don't remember enough about its format off the top of my head to tell you the easiest way to put an unambiguous header on each packet/message to make the protocol self-synchronizing.
I did some work for my company on a similar-ish project. It's actually Rust running on both a microcontroller, and a desktop app. The "protocol" they use to communicate (bidirectionally) is in a single crate, you see the source here