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How to set up and optimize MQTT for real-time IoT communication?

Simply use a free MQTT broker like hivemq or mosquitto. You can then use libraries which enables MQTT subscribe and publish methods. These are available on both Arduino and Micropython, as well as embedded C (if you want industry accepted code). Then you can publish whatever values you want onto the server. Whichever device / microcontroller is connected to this server through the internet and is subscribed to the same topic, will be able to view the values in real-time!