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It might be useful to study the techniques that modems used to transmit data over phone lines. I seem to recall trellis coded modulation being used:
https://en.wikipedia.org/wiki/Trellis_coded_modulation
The acoustic channel is bound to suffer from multipath too, so some equalization may be needed too.
https://en.wikipedia.org/wiki/Equalization_(communications) https://www.ti.com/lit/an/spra140/spra140.pdf
In order to receive the signal far from the transmitter, some form of spread spectrum encoding could be used, like CDMA. The spreading factor could be negotiated.
https://en.wikipedia.org/wiki/Direct-sequence_spread_spectru...