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https://github.com/oliyh/superlifter - Clojure
I would definitely build a prototype using prepl or nREPL first, with fixed number of machines, which are connected over a virtual Ethernet switch, like https://www.zerotier.com/ , which can be your authentication later. I wouldn't worry about authorization, since you control all the code, but iirc you can specify the available vars for the evaluation environment of an nREPL server.
Definitely check out pathom3 as well. It's a much improved version of pathom2.
If you are looking for a Clojure-native RPC library. You can try out slacker
Have look at Aeron, pub/sub comms Java library https://github.com/real-logic/aeron