Which is better among rpmsg and rpc to access BLE running in the network core on nRF5340?

I'm using an nRF5340 DK board with ncs v2.0.0. I have to build an application that should access BLE running in the network core. I see there are two options provided, Remote Protocol messages and Remote Procotol calls. 

1) What is the difference between them?

2) In what cases one is preferred over another?

3) What is nordic's recommended way to access BLE in net core among the two?

Thank you,

Jagadeep

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