TCP isn't really necessary. Usually a language server just uses stdin/stdout, which are just pipes.

And overall overhead for running a language server in a separate process isn't that big. LSP is designed in such a way that only minimal amount of information is needed to be passed, like edits or short responses. Packing/unpacking JSONs isn't a bottleneck, the heaviest job like program analysis is done in the language server itself without interprocess communication overhead involved.