Wifi serial bridge with esp8266 for arduino to arduino real time communication


I would like to implement some kind of real time communication between two arduino using ESP8266. I'm using the AT firmware.

One esp is an AP and server, the other is a STA and client. I've managed to communicate between the two arduino but there is a delay after each Cipsend command so I can't do real time. What I need is some kind of transparent serial bridge between the two arduino. Do you know how to do that?