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Instead use a serial queue per sub system and use a target queue if you need subsystems to interact.
Reader/writer locks tend to be a source of great complexity and hard to get right, specially in Swift which is bad at atomic access. If needed it’s better to use os_unfair_lock
Combine helps handling concurrency with its stream of events API.
Shouldn’t need to specify QoS unless for example you start a process in the main queue and want it to go in the background specifically. Otherwise let the system determine the QoS for you.