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If there are multiple TCP servers, each server shall have a unique socket. You need to call wiced_tcp_register_callbacks() corresponding to each TCP server containing corresponding callback functions and corresponding TCP socket instance. You can use wiced_tcp_connect() to connect to a particular TCP server where you need to specify the parameters specific to that server port. Let me know if you need further information. Regarding SDK version, I would recommend you to move to the latest version 5.0.1 of WICED SDK.