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Ultra‐reliable and low‐latency communication (URLLC) is one of the key use cases of the fifth generation (5G) wireless communications to facilitate specific application scenarios with stringent latency and reliability demands, such as industrial automation and Tactile Internet. A full‐duplex (FD) relay with simultaneous transmission and reception in the same frequency band is an effective approach to enhance the reliability of cell‐edge user terminals, by significantly suppressing self‐interference (SI). However, the signal processing latency at FD relay due to SI cancellation, referred to as relaying latency, takes a significant part in the end‐to‐end latency, and therefore should be minimized, while guaranteeing high reliability. In this chapter, we first present an up‐to‐date overview of the end‐to‐end latency for an FD relay system ¹ , addressed on physical layer challenges. We …