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Hi. A single MQTT connection can support up to 100 publishes (sum of in an out) per second.
On the device side, one approach you can take is to maintain a message queue, as you said. Keep putting your new/live message at the head of the queue for immediate transmission and additionally publish up to 99 of the old messages per second. Potentially you can catch up on a day of messages in as little as 15 minutes. In practice it will be slower, because you have to be careful to not be throttled.
Do your messages contain a device timestamp and/or a sequence number? I think they will need to so that the cloud can distinguish live/new messages from old. That way only the new messages are directed to your live dashboarding.
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Thanks, Greg, for the response. Yes, we are adding timestamp to the messages.