Not super familiar with Zenoh! At first glance, it seems to focus more on the robotics use case and support higher-level data manipulation.

Synnax also follows a pub-sub model, which enables functionality like having multiple clients/consoles be able to view and monitor their physical systems.

I'd say we try to reach closer to the edge to help directly facilitate sensor abstractions. In this vein, Another way Synnax seems to differ is to try to cater more to the hardware control aspect. So for example, we have a panel for users to create schematics of propulsion/electrical systems which they can they link with automated scripts to command that actual system and override with manual control when necessary.

Using multiple nodes of Synnax in a distributed fashion is also still a WIP but a goal of ours as well!

If you use Zenoh would love to hear how you use it and if my impressions of it are correct.