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In Unity (5.4.1). Are Commands, ClientRpcs and SyncVar calls/events guaranteed to arrive? Or are they fire and forget (like UDP protocol)?

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All High Level API calls are guaranteed to arrive (With exceptions where clearly specified on the documentation). in UNet, there is an Unreliable channel and a Reliable channel.

Unity builds its own custom transport protocol ontop of the UDP protocol. Unity also allow you access the transport layer through Low Level API calls

Some resources:

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