USD (Usdz is one of the supported extensions) supports skeletal animation, linear blend skinning and blend shapes in the default UsdSkel implementation. Additionally it’s an extensible format , so you can plug in other implementations as needed

Edit: to explain what I mean by supported extensions in case it comes up. USD is the format/library. It can be represented in three forms. USDA for ASCII, usdc for binary and usdz is a zipped bundle of the other two including any asset dependencies like textures, audio or other referenced usd files