AES-CCM replay attack and nonce
It seems you're worried about two distinct attacks: replay attack (attacker reads a packet and re-sends it later), and a "delay attack" (attacker intercepts a packet, blocks it, and sends it later).

The replay attack can be avoided with counters or timestamps; as you mentioned, timestamps can be easier. The hard part is keeping clocks synchronized.

The delay attack can be detected with a timestamp (you need to authenticate the timestamp, e.g. in CCM mode you can include it in the additional data field).

Of course, you need to think about your application to see if you really need to protect against these attacks.