@Barry-Hammond https://docs.modalai.com/voxl-streamer/#how-to-stream-video-with-rtsp-on-voxl
Quality greatly depends on your LTE coverage and VPN performance. I recommend lowering the bitrate in /etc/modalai/voxl-streamer.conf until you're happy with the response rate.
Tailscale can add overhead as well and our recent LTE testing has involved hosting a custom WireGuard server.