diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7920bdc68..ba8f552b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -216,7 +216,7 @@ set(Z_FEATURE_PUBLICATION 1 CACHE STRING "Toggle publication feature")
 set(Z_FEATURE_SUBSCRIPTION 1 CACHE STRING "Toggle subscription feature")
 set(Z_FEATURE_QUERY 1 CACHE STRING "Toggle query feature")
 set(Z_FEATURE_QUERYABLE 1 CACHE STRING "Toggle queryable feature")
-set(Z_FEATURE_LIVELINESS 1 CACHE STRING "Toggle liveliness feature")
+set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature")
 set(Z_FEATURE_INTEREST 1 CACHE STRING "Toggle interests")
 set(Z_FEATURE_FRAGMENTATION 1 CACHE STRING "Toggle fragmentation")
 set(Z_FEATURE_ENCODING_VALUES 1 CACHE STRING "Toggle encoding values")
@@ -239,6 +239,12 @@ set(Z_FEATURE_PUBLISHER_SESSION_CHECK 1 CACHE STRING "Toggle publisher session c
 set(Z_FEATURE_BATCHING 1 CACHE STRING "Toggle batching")
 set(Z_FEATURE_RX_CACHE 0 CACHE STRING "Toggle RX_CACHE")
 
+# Add a warning message if someone tries to enable Z_FEATURE_LIVELINESS directly
+if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)
+  message(WARNING "Z_FEATURE_LIVELINESS can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LIVELINESS.")
+  set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature" FORCE)
+endif()
+
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
diff --git a/docs/api.rst b/docs/api.rst
index 7271209eb..1a3893a0b 100644
--- a/docs/api.rst
+++ b/docs/api.rst
@@ -1289,7 +1289,7 @@ See details at :ref:`owned_types_concept`
 
 Functions
 ---------
-.. autocfunction:: liveliness.h::z_liveliness_token_options_t_default
+.. autocfunction:: liveliness.h::z_liveliness_token_options_default
 .. autocfunction:: liveliness.h::z_liveliness_declare_token
 .. autocfunction:: liveliness.h::z_liveliness_undeclare_token
 .. autocfunction:: liveliness.h::z_liveliness_subscriber_options_default
diff --git a/include/zenoh-pico/api/liveliness.h b/include/zenoh-pico/api/liveliness.h
index 43e3012fc..d3751bc4f 100644
--- a/include/zenoh-pico/api/liveliness.h
+++ b/include/zenoh-pico/api/liveliness.h
@@ -48,7 +48,7 @@ typedef struct z_liveliness_token_options_t {
 /**
  * Constructs default value for :c:type:`z_liveliness_token_options_t`.
  */
-z_result_t z_liveliness_token_options_t_default(z_liveliness_token_options_t *options);
+z_result_t z_liveliness_token_options_default(z_liveliness_token_options_t *options);
 
 /**
  * Constructs and declares a liveliness token on the network.
diff --git a/include/zenoh-pico/api/primitives.h b/include/zenoh-pico/api/primitives.h
index b28f3ec6c..3da9ab8f0 100644
--- a/include/zenoh-pico/api/primitives.h
+++ b/include/zenoh-pico/api/primitives.h
@@ -2063,9 +2063,9 @@ const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *subs
 #ifdef Z_FEATURE_UNSTABLE_API
 #if Z_FEATURE_BATCHING == 1
 /**
- * Activate the batching mechanism.
- * Any message that would have been sent on the network by a subsequent api call (e.g z_put, z_get)
- * will be instead stored until the batch is full or batching is stopped with :c:func:`zp_batch_stop`.
+ * Activate the batching mechanism, any message that would have been sent on the network by a subsequent api call (e.g
+ * z_put, z_get) will be instead stored until the batch is full, flushed with :c:func:`zp_batch_flush` or batching is
+ * stopped with :c:func:`zp_batch_stop`.
  *
  * Parameters:
  *   zs: Pointer to a :c:type:`z_loaned_session_t` that will start batching messages.
@@ -2076,7 +2076,18 @@ const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *subs
 z_result_t zp_batch_start(const z_loaned_session_t *zs);
 
 /**
- * Deactivate the batching mechanism and flush the remaining messages.
+ * Send the currently batched messages on the network.
+ *
+ * Parameters:
+ *   zs: Pointer to a :c:type:`z_loaned_session_t` that will send its batched messages.
+ *
+ * Return:
+ *   ``0`` if batch successfully sent, ``negative value`` otherwise.
+ */
+z_result_t zp_batch_flush(const z_loaned_session_t *zs);
+
+/**
+ * Deactivate the batching mechanism and send the currently batched on the network.
  *
  * Parameters:
  *   zs: Pointer to a :c:type:`z_loaned_session_t` that will stop batching messages.
diff --git a/include/zenoh-pico/config.h b/include/zenoh-pico/config.h
index 4e4ae9f99..840dff4ee 100644
--- a/include/zenoh-pico/config.h
+++ b/include/zenoh-pico/config.h
@@ -27,7 +27,7 @@
 #define Z_FEATURE_SUBSCRIPTION 1
 #define Z_FEATURE_QUERY 1
 #define Z_FEATURE_QUERYABLE 1
-#define Z_FEATURE_LIVELINESS 1
+#define Z_FEATURE_LIVELINESS 0
 #define Z_FEATURE_RAWETH_TRANSPORT 0
 #define Z_FEATURE_INTEREST 1
 #define Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION 0
@@ -44,9 +44,9 @@
 #define Z_FEATURE_ENCODING_VALUES 1
 #define Z_FEATURE_TCP_NODELAY 1
 #define Z_FEATURE_LOCAL_SUBSCRIBER 0
-#define Z_FEATURE_PUBLISHER_SESSION_CHECK 0
+#define Z_FEATURE_PUBLISHER_SESSION_CHECK 1
 #define Z_FEATURE_BATCHING 1
-#define Z_FEATURE_RX_CACHE 1
+#define Z_FEATURE_RX_CACHE 0
 // End of CMake generation
 
 /*------------------ Runtime configuration properties ------------------*/
diff --git a/include/zenoh-pico/net/primitives.h b/include/zenoh-pico/net/primitives.h
index 53db370e1..b53a8f4e4 100644
--- a/include/zenoh-pico/net/primitives.h
+++ b/include/zenoh-pico/net/primitives.h
@@ -29,10 +29,6 @@
 extern "C" {
 #endif
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 /*------------------ Discovery ------------------*/
 
 /**
diff --git a/src/api/api.c b/src/api/api.c
index 40f3e5ed3..c4b827209 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -1432,6 +1432,15 @@ z_result_t zp_batch_start(const z_loaned_session_t *zs) {
     return _z_transport_start_batching(&session->_tp) ? _Z_RES_OK : _Z_ERR_GENERIC;
 }
 
+z_result_t zp_batch_flush(const z_loaned_session_t *zs) {
+    _z_session_t *session = _Z_RC_IN_VAL(zs);
+    if (_Z_RC_IS_NULL(zs)) {
+        return _Z_ERR_SESSION_CLOSED;
+    }
+    // Send current batch
+    return _z_send_n_batch(session, Z_CONGESTION_CONTROL_DEFAULT);
+}
+
 z_result_t zp_batch_stop(const z_loaned_session_t *zs) {
     _z_session_t *session = _Z_RC_IN_VAL(zs);
     if (_Z_RC_IS_NULL(zs)) {
diff --git a/src/transport/multicast/rx.c b/src/transport/multicast/rx.c
index 1ab13f161..dc64460e4 100644
--- a/src/transport/multicast/rx.c
+++ b/src/transport/multicast/rx.c
@@ -252,8 +252,6 @@ z_result_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm,
                     _Z_INFO("Failed to decode defragmented message");
                     ret = _Z_ERR_MESSAGE_DESERIALIZATION_FAILED;
                 }
-                // Fragmented messages must be cleared. Non-fragmented messages are released with their transport.
-                _z_msg_clear(&zm);
                 // Free the decoding buffer
                 _z_zbuf_clear(&zbf);
                 *dbuf_state = _Z_DBUF_STATE_NULL;
diff --git a/src/transport/unicast/rx.c b/src/transport/unicast/rx.c
index 628f2815d..d90b59f38 100644
--- a/src/transport/unicast/rx.c
+++ b/src/transport/unicast/rx.c
@@ -204,8 +204,6 @@ z_result_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_t
                     _Z_INFO("Failed to decode defragmented message");
                     ret = _Z_ERR_MESSAGE_DESERIALIZATION_FAILED;
                 }
-                // Fragmented messages must be cleared. Non-fragmented messages are released with their transport.
-                _z_msg_clear(&zm);
                 // Free the decoding buffer
                 _z_zbuf_clear(&zbf);
                 *dbuf_state = _Z_DBUF_STATE_NULL;
diff --git a/src/transport/unicast/transport.c b/src/transport/unicast/transport.c
index 9ae20a38c..64a1d6540 100644
--- a/src/transport/unicast/transport.c
+++ b/src/transport/unicast/transport.c
@@ -217,6 +217,8 @@ static z_result_t _z_unicast_handshake_client(_z_transport_unicast_establish_par
     return _Z_RES_OK;
 }
 
+// TODO: Activate if we add peer unicast support
+#if 0
 static z_result_t _z_unicast_handshake_listener(_z_transport_unicast_establish_param_t *param, const _z_link_t *zl,
                                                 const _z_id_t *local_zid, enum z_whatami_t whatami) {
     // Read t message from link
@@ -293,6 +295,16 @@ static z_result_t _z_unicast_handshake_listener(_z_transport_unicast_establish_p
     // Handshake finished
     return _Z_RES_OK;
 }
+#else
+static z_result_t _z_unicast_handshake_listener(_z_transport_unicast_establish_param_t *param, const _z_link_t *zl,
+                                                const _z_id_t *local_zid, enum z_whatami_t whatami) {
+    _ZP_UNUSED(param);
+    _ZP_UNUSED(zl);
+    _ZP_UNUSED(local_zid);
+    _ZP_UNUSED(whatami);
+    return _Z_ERR_TRANSPORT_OPEN_FAILED;
+}
+#endif
 
 z_result_t _z_unicast_open_client(_z_transport_unicast_establish_param_t *param, const _z_link_t *zl,
                                   const _z_id_t *local_zid) {