Hello, I don’t have the schedule yet for the release, maybe 3 to 6 months.
I’m not sure you will be able to do 500 TWR per second. Fira TWR implies at least 4 messages, in this case, only the initiator will get the distance. Moreover, setting a slot to 1ms makes the scheduling very tight and, depending on your setup and SW architecture, you may need to relax this setting.