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I am assuming the answer would be yes since Tx/Rx pins are used to send data back and forth, or is it of such a low frequency that such thing is not required?

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Length/impedance matching is used with multiple signals, differential or single-ended, that must arrive at the same point at the same time. Since UART signals are both asynchronous and in opposite directions there is no need to match the traces.

Nonetheless, keeping the traces neat and tidy is an indicator of professionalism even if it is not required.

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