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What is the Best Approach to Implement Remote Display and Control From One Embedded Linux Device to Another Embedded Linux Device?

Background information – We have two custom embedded Linux devices that both contain their own GUI for operating and controlling each device and it’s software/firmware. The devices are class 2 medical devices and do not have any internet connection. Both of these embedded Linux devices are custom SoC PCB’s that contain an AM3354 ARM Cortex-A8, SDRAM, Flash, USB, I2C, LCD Touch panel, SSH, etc. Both devices contain a custom GUI application that were created using Qt 5.7.1 minGW 32bit, using C++ and QtQuickCompiler. The Linux architecture of each device system is the exact same.