Can a TCP c# client receive and send continuously/consecutively without sleep?

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This is to a degree a "basics of TCP" question, yet at the same time I have yet to find a convincing answer elsewhere and believe i have a ok/good understanding of the basics of TCP. I am not sure if the combination of questions (or the one questions and while i'm at it the request for confirmation of a couple of points) is against the rules. Hope not.

I am trying to write a C# implementation of a TCP client, that communicates with an existing app containing a TCP server (I don't have access to its code, so no WCF). How do I connect to it, send and receive as needed as new info comes in or out, and ultimately disconnect. Using the following MSDN code as an example where they list "Send" and "Receive" asynchronous methods (or just TcpClient), and ignoring the connect and disconnect as trivial, how can I best go about continuously checking for new packets received and at the same time send when needed?

I initially used TCPClient and GetStream(), and the msdn code still seems to require the loop and sleep described in a bit (counter intuitively), where I run the receive method in a loop in a separate thread with a sleep(10) milliseconds, and Send in the main (or third) thread as needed. This allows me to send fine, and the receive method effectively polls at regular intervals to find new packets. The received packets are then added to a queue.

Is this really the best solution? Shouldn't there be a DataAvailable event equivalent (or something i'm missing in the msdn code) that allows us to receive when, and only when, there is new data available?

As an afterthought I noticed that the socket could be cut from the other side without the client becoming aware till the next botched send. To clarify then, the client is obliged to send regular keepalives (and receive isn't sufficient, only send) to determine if the socket is still alive. And the frequency of the keepalive determines how soon I will know that link is down. Is that correct? I tried Poll, socket.connected etc only to discover why each just doesn't help.

Lastly, to confirm (i believe not but good to make sure), in the above scenario of sending on demand and receiving if tcpclient.DataAvailable every ten seconds, can there be data loss if sending and receiving at the same time? If at the same time I am receiving I try and send will one fail, overwrite the other or any other such unwanted behaviour?

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