Control by the UART

Hello, I want to control the robot with the UART using a card. When I use the firmware 4.3.2, I can’t use the second UART. The command used to change the UART is not recognized (#0 M2500 → $0 E20). So to use this UART, I need to use the firmware 3.2.0, however the movements of the robot become not fluid.

(1) Is it possible to use the second UART with the firmware 4.3.2?
(2) And is it possible to have fluid movements?

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Yes, it’s possible to use firmware 4.3.2 with uart_2, and the firmware 4.3.2 could recognize the 2_uart automatically, no need to send command to switch.