What we don't have control is when device has enabled server mode.
I believe, current implementation is that server mode works as follow:
1. enable one connection to listen on desired port
2. when connection is active, create new connection and listen on the same port
3. when second connecton is active, create third connection and listen on same port
So that we always have 1 connection in listening mode.
But LwIP allows us to only listen on single connection on more of them.
I believe, we should be somehow able to set which connection we want enabled for server mode.
For example AT+CIPSERVERCONN=0,1,2 could mean that connections 0,1,2 are available for server mode and if we do AT+CIPSTART=2,... we got an error.
Or maybe set connections like AT+CIPSERVERCONN=1,0 which means enable connection 0 for server mode and AT+CIPSERVERCONN=0,0 which means disable connection 0 for server.
In this case we are able to control device even when in server mode. If we only enable single connection for server, our server will work slower but for memory constrain devices, this shouldn't be a problem.
I would do this on my own, but I don't have access to AT core to modify how it works.
I'm expecting at least an answer from you.
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