Not OP but in same situation. Not every platform can run gRPC over localhost easily or without extra privileges.
I used to use protobuf but now I just use JSON, over stdin/stdout on desktop. It’s honestly quite good.
Why not ConnectRPC? It's basically gRPC but without all the strange requirements for exotic HTTP features.
Which platforms? My product runs gRPC client/server on macOS, Linux and Windows. No issues with privileges. Or are you trying to run it on port 443? Yeah, don't do that, run it on 8443 or whatever instead.