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The Baud is same on both sides and using different baud do not solve the problem.
But I notice when I add delay (best 1ms) on loop function I receive only 10% of the time undesired characters on message, and 100% without delay.
Using Serial1.flush() or not do not change nothing.
Why delay affect the serial writing if things in Arduino happen synchronously?
How to avoid those weird characters?
I remember reading the article provided by @PerryBebbington, which may make sens in my case but I tested then it just stop receiving message.
The two devices have separated power source (ok not really, all are connected to different USB port but same PC).
Yes I thing you are right, the problem was missing GND.
Once I used a different power source I got the reverse, now I do not receive any message anymore without GND and when I plugged the GND I started receiving message without any weird characters.
But common ground do not work if devices connected to same PC.