Aduino uno R4 wifi connecting via bluetooth to arduino NANO 33 BLE reading/checking characteristic causes huge delays whilst trying to drive stepper motors

[CG528]

Aduino uno R4 wifi connecting via bluetooth to arduino NANO 33 BLE reading/checking characteristic causes huge delays whilst trying to drive stepper motors.

I have to read the characteristic in case it has been updated but in doing so it causes huge stuttering in the driving of my stepper motors, is there a solution to this or a work around?

Below are the two codes.

https://pastebin.com/Tmr2qTWg

https://pastebin.com/ZQg3HxkB