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We did a similar analysis in the early days at Elementary after rolling something custom based on ZMQ. We would up creating Atom: https://github.com/elementary-robotics/atom

Atom is an easy, Redis Streams-based RPC that also emphasizes docker containerization of microservices. We support plug-ang-play serialization with msgpack and Apache Arrow currently supported and more on the roadmap. You can also send raw binary if you please.

Another nice thing about Redis is that if you're running microservices on the same instance you can connect to redis through a linux socket on tmpfs and bypass the TCP stack to get even better performance.