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OSRF has worked on a real-time demo in the past which is part of the ROS 2 release. The tutorial page in the wiki is a good starting point for that referencing additional resources. Currently we are not actively working on that ares (see roadmap) but focuc our efforts on various other topics.
From just reading your question it is unclear to me what you mean with "all Realtime features". If real-time support is relevant for your use case I would suggest to look into what is already possible and start a discussion on what is not yet covered on e.g. discourse. We also encourage you to contribute whatever is necessary / helpful for your application to extend the support in that area.
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