UDP and TCP throughput

I will check and try.
Do you suggest to use multiple streams here?

Yes you should test it as sometimes core network might limit throughput per stream.
Also if possible use a 3rd party tool to check throughput, dont fully trust the stats iperf gives.
It has some round off that might give false results.
Try networx 5.5.5 which is free if on windows.
Or network monitor mini if on android.

On the same note, how can we measure or test VoIP, Message, Video in a private WiFi network?
I mean basically QoS of this services?

Do You want to check if on VoIP you have a better packet loss than for basic data services?