JD Audio Stutters While Walking

Running JD Humanoid over WiFi with ARC on Windows. I’m driving it with a Logitech F310 (in DirectInput/Dmode) using the Joystick (Direct Input) skill, and I added Speech Synthesis so JD can talk on button presses. Movement is via the default JD Auto Position gait (Auto Position Movement Panel in the project). The goal is: left stick = forward/back/turn, and buttons trigger phrases (e.g., A = "Let’s go!", B = "Stopping").

What I’m seeing: whenever JD is walking, any Say (EZ-B v4 Speaker) output is choppy-words get clipped or there are short gaps. If JD is standing still, the voice is clear. If I use Say (PC Speaker), it’s smooth, so it seems specific to audio streaming to the EZ-B while the servos are busy.

What I tried so far:

• Increased Auto Position step time (from fast frames to slower, e.g., 20 ms up to ~60-80 ms) and reduced servo speeds; still get stutter when moving.
• Tested both EZ-B AP mode and Client mode (on my 2.4 GHz router), moved the PC closer, and verified RSSI is good; ping to EZ-B is ~12-18 ms.
• Battery is fully charged; no brownouts or resets.
• Tried Soundboard (EZB) with a short WAV during walking-also stutters, so it’s not just TTS.
• Kept scripts minimal in Joystick (Direct Input) button press, e.g.:

sayEZB("Let’s go!");

Is there a recommended way in ARC to make JD walk and speak at the same time without choppy audio-such as throttling servo command frequency from Auto Position or Joystick (Direct Input), lowering the Speech Synthesis audio sample rate to the EZ-B, or some other best practice to balance movement updates and EZ-B audio streaming?