Each TCP packet does not require an ack, at least not as a "receive TCP packet send out ACK". They're returned collectively as a bitset for the last N packets instead based on your transmission window (which TCP stacks already tune based on your RTT). Can't see how you'd get rid of that if you're looking for reliable real-time transport medium.
Additionally you can layer in forward error-correction above TCP to reduce packet loss due to the physical medium.