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I don't have any experience with goRPC (I'm assuming you're referring to https://github.com/valyala/gorpc), but just to note that that repo hasn't been updated in 7 years and has open issues that are that old, too. https://github.com/grpc/grpc-go has 17.5k stars and is actively maintained. That doesn't say anything about their relative performance - goRPC might be faster - but you probably won't have a fun time if you run into issues.
I don't have any experience with goRPC (I'm assuming you're referring to https://github.com/valyala/gorpc), but just to note that that repo hasn't been updated in 7 years and has open issues that are that old, too. https://github.com/grpc/grpc-go has 17.5k stars and is actively maintained. That doesn't say anything about their relative performance - goRPC might be faster - but you probably won't have a fun time if you run into issues.
There is another: twirp
gRPC is a trivially simple protocol, especially if you don’t use streaming - it’s just HTTP standards under the hood. You can write a correct sever-side gRPC handler in <10m: https://github.com/akshayjshah/grpc-demystified. There are certainly valid reasons not to choose gRPC, but IMO the protocol’s inherent complexity isn’t one of them.
While Go support isn't on par with the more popular gRPC ecosystem, I highly recommend looking at https://capnproto.org/ as a better alternative!