I like TopoJSON and have used it in projects. But it's weird to set it up as opposition to GeoJSON. It's a complement. GeoJSON is a general data format meant to replace uses of ESRI Shapefiles and other complex formats. TopoJSON is more of a solution for a particular application need.
Is there much work developing or using TopoJSON these days? I haven't seen much about it in a few years.
To be clear, I'm not suggesting TopoJSON as an alternative to GeoJSON. I like GeoJSON and was loosely involved with the working group that created and updated its spec.
I'm just saying that for the specific task I mentioned GeoJSON or any format such as shapefiles that store polygons individually naturally leads to the "sliver" problem.
A nice processing pipeline is:
1. Convert GeoJSON to TopoJSON.
2. Run the simplification on the TopoJSON.
3. Convert the resulting TopoJSON back to GeoJSON.
The TopoJSON GitHub has tools for each of these steps.