Hi,

A good idea is to remove the radio modules and just put a short cable with 3 lines.. GND RX and TX and see what happens.

Remove as much as possible from the circuit and simplify ...

AND

TURN OFF the Watch Dog.. it seems as you have it turned on in the config bits but you are not clearing it anywhere in the code so it will come out and bite you. The WDT is constantly resetting your PIC and that will account for at least some of the erratic behaviour (or alot).