This thesis explores the goal-oriented communication paradigm within wireless networked control systems, advocating for a focus on the end-purpose of communication. We propose a holistic approach where the network and control applications operate as a cohesive unit, optimizing both for improved stability and performance. We introduce the "Age of Loop" (AoL) metric, an extension of the Age of Information (AoI), to capture both downlink and uplink effects, facilitating better resource allocation. Our research includes both theoretical insights and practical experiments using a standalone 5G network in a Bosch factory. We demonstrate AoL's advantages over AoI and showcase its real-world applicability through an Automated Guided Vehicle case study. Overall, our findings advocate for reimagining traditional network designs, laying groundwork for future enhancements in wireless networked control systems.