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If you are willing to dig into code, the robot_pose_ekf code shows how to combine different data streams.

A rough idea: Look at all time stamps from all incoming data eg. time_A, time_B, time_C. Pick those that are not too old (ie within your timeout range from current_time). Finally, use the min of the valid timestamps vs current_time eg. if time_C is outside the timeout range, your output timestamp will be min(current_time, time_A, time_B)