webrpc VS jsonrpc-ts

Webrpc is what you're looking for: https://github.com/webrpc/webrpc

And addition to what was mentioned there are also webrpc and twirp.

webrpc

You will be joining the expert Go team at Horizon, previously who in our spare time + for fun, authored OSS projects like chi (https://github.com/go-chi/chi), upper/db (https://github.com/upper/db), webrpc (https://github.com/webrpc/webrpc), goware (https://github.com/goware), and much more. Our Go codebases are extremely clean and the patterns we've built have been shaped over 7 years of writing production Go systems and open source projects. These are the patterns which we apply to our infrastructure at Horizon in our products Skyweaver and Sequence.

Active use is really irrelevant if you only plan on using it inside a company, because you can implement a client and server within 30 mins to an hour, no external tools needed. The spec is clear and readable. It's excellent. We use it with a TypeScript codebase and just share the interfaces for the services in a monorepo.

If you want a more advanced implementation with type inference for Typescript you can use this: https://github.com/shekohex/jsonrpc-ts

I'd still recommend implementing your own, my own implementation is based off the one above.