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.
If you are looking for a lightweight Protobuf based RPC framework, check out https://connectrpc.com/. It is part of the CNCF and is used and supported by multiple companies: https://buf.build/blog/connect-rpc-joins-cncf
gRPC ships with its own networking stack, which is one reason why those libs are heavy. Connect libraries leverage each ecosystem's native networking stack (e.g. net/http in Go, NSURLSession in Swift, etc.), which means any other libraries that work with the standard networking stack interop well with Connect.
> it feels like it's essentially Cloudflare employees improving Cap'n Proto for Cloudflare.
That's correct. At present, it is not anyone's objective to make Cap'n Proto appeal to a mass market. Instead, we maintain it for our specific use cases in Cloudflare. Hopefully it's useful to others too, but if you choose to use it, you should expect that if any changes are needed for your use case, you will have to make those changes yourself. I certainly understand why most people would shy away from that.
With that said, gRPC is arguably weird in its own way. I think most people assume that gRPC is what Google is built on, therefore it must be good. But it actually isn't -- internally, Google uses Stubby. gRPC is inspired by Stubby, but very different in implementation. So, who exactly is gRPC's target audience? What makes Google feel it's worthwhile to have 40ish(?) people working on an open source project that they don't actually use much themselves? Honest questions -- I don't know the answer, but I'd like to.
(FWIW, the story is a bit different with Protobuf. The Protobuf code is the same code Google uses internally.)
(I am the author of Cap'n Proto and also was the one who open sourced Protobuf originally at Google.)