I have been in a similar situation, and gRPC feels heavy. It comes with quite a few dependencies (nothing compared to npm or cargo systems routinely bringing hundreds of course, but enough to be annoying when you have to cross-compile them). Also at first it sounds like you will benefit from all the languages that protobuf supports, but in practice it's not that perfect: some python package may rely on the C++ implementation, and therefore you need to compile it for your specific platform. Some language implementations are just maintain by one person in their free time (a great person, but still), etc.
On the other hand, I really like the design of Cap'n Proto, and the library is more lightweight (and hence easier) to compile. But there, it is not clear on which language implementation you can rely other than C++. Also it feels like there are maintainers paid by Google for gRPC, and for Cap'n Proto it's not so clear: it feels like it's essentially Cloudflare employees improving Cap'n Proto for Cloudflare. So if it works perfectly for your use-case, that's great, but I wouldn't expect much support.
All that to say: my preferred choice for that would technically be Cap'n Proto, but I wouldn't dare making my company depend on it. Whereas nobody can fire me for depending on Google, I suppose.
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