Issue with uart RX data when sharing with multiple tasks

Yes. The OP appears to be writing the master side of a bus communication with several slaves attached. One obvious reason for a communication to fail is a slave not recognizing its address on the bus and thus not responding as expected, which would hint at a problem on the transmit side. A scope with decoding abilities would help a lot here.

Important: Do not wire up your scope/LA to the Logical (MCU) side of the PHY but the physical bus, otherwise you may lose issues related to bus direction switching.

It could also help (the OP) you to add protocol level counting, ie determine how far in a packet reception you have come. Does the problem always show at the beginning of a packet or somewhere in between?