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see #491
I'm quite happy with the result from a technical perspective (complexity of implementation, performance, potential issues, ...). It solves the motivating problem in #491, behaves nicely in #491 (comment) and avoids a race condition that haunted rpyc for a long time (#492 (comment)).
Regarding threads vs async, consider nogil. Threads in Python might have a bright future after all. Until then, the best argument imo still is transparency.
obviously missing: