I changed the radio to be powered by the external power supply (it can power both 3.3V and 5V) - and it's much more reliable until eventually it stops - I think the power supply struggles supplying both the servo and the radio.
I'm going to try hooking up another Nano tonight to purely provide the 3.3V to the radio, see if that improves things.
But I was wondering what the best power supplies people use to power this stuff? I do seem to have a lot of issues with reliable power. Also, I still would like to implement an ACK feature - I could get the sensor to send a state update on MQTT when the state changes I suppose, but would be nice if the ACK's were built in.