Great opportunity to pitch my recent work on a similar solution for gRPC:

https://github.com/sillystack/api/blob/main/transport/transp...

I'm not going to make any security claims as of now (it's almost certainly broken) but it uses the Noise IK handshake.

Long term I think NoiseSocket would be a good way to go https://noisesocket.org/post/1/ but perhaps in service-to-service use cases ciphersuite negotiation can be simplified.