How to Implement Two way Ranging or Synchronised based Time of Arrival Localisation using XBee's

I tried RSSI based localisation using XBee S2C modules which have not resulted in desired accuracy , so wanted to implement Time of Arrival (ToA) based localisation using XBee’s. But as per my research XBee have inherent latency of about 5ms to 40ms for Packetization/Depacketization, this delay is not desirable in ToA based loalisation.
Need guidance about modules which could be helpful for ToA based localistion.