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JSON doesn't allow any custom type, so it is not "flexible" per se. Therefore you only need a format that supports the JSON data model and pretty much nothing else; CBOR [1] for example almost surely fits the bill.
[1] https://cbor.io/
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Scout APM
Less time debugging, more time building. Scout APM allows you to find and fix performance issues with no hassle. Now with error monitoring and external services monitoring, Scout is a developer's best friend when it comes to application development.
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I guess an example would be along the lines of protobufs, e.g. Cap’n Proto
(which I have never used but really enjoy just for its charming website design alone)
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I've written translation layers for such systems and it's not too bad. See this project from $job - 1: https://github.com/CaperAi/pronto
It allowed us to have a single model for storage in the DB, for sending between services, and syncing to edge devices.
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jsoniter
jsoniter (json-iterator) is fast and flexible JSON parser available in Java and Go (by json-iterator)
Protobuf parsing is slower than an optimized json library, e.g. https://jsoniter.com/