This has already been done at scale with HTTP/3 (QUIC), it's just not widely distributed beyond the largest sites & most popular web browsers. gRPC for example is still on multiplexed TCP via HTTP/2, which is "good enough" for many.
Though it doesn't really replace TCP, it's just that the predominant requirements have changed (as Ousterhout points out). Bruce Davie has a series of articles on this: https://systemsapproach.substack.com/p/quic-is-not-a-tcp-rep...
Also see Ivan Pepelnjak's commentary (he disagrees with Ousterhout): https://blog.ipspace.net/2023/01/data-center-tcp-replacement...
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