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Well if your integers are sequential you can encode huge numbers of them using diff + RLE in just a few bytes, likely far fewer than 1/2 a byte on average, for the right dataset (in theory you can store 1,2,3,4,5...10_000 in 2 bytes).
But for other integer datasets there's FastPFOR
https://github.com/lemire/FastPFor
The linked papers there will talk about techniques that can be used to store multiple 32bit integers into a single byte, etc. Integer compression is pretty powerful if your data isn't random. The thing with UUIDs is that your data is pretty random - even a UUIDv7 contains a significant amount of random data.
One idea is just to use fewer random bits in peerIDs. Yjs (https://docs.yjs.dev/) gets away with just 32 random bits. If you compromise and use 64 random bits, then even a very popular doc with 1 million lifetime peerIDs will have a < 10^-7 lifetime probability of collision.