You could use a VPN, but I'm not shure you will be able to reach a such low latency time.
In addition, VPN usually are not for free.
Try to evaluate also WebSocket (it's on TCP layer)
Maybe it's easyier try to change the way you share data between the two device; for example have you evaluated the possibility to send a "time synced" buffer of measures instead of stream, if is feasible for your application.