3GPP Rel-16: 2-step RACH Procedure

3GPP release 15 defines a four step RACH procedure.
And in 3GPP release 16 it is called 2-step RACH Procedure.

Follows a good reading to understand the concept:

The main goal here is to reduce Latency and also control-signaling overhead.
Now there’s a single round trip cycle between the UE and the Nodes.