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Grpc servers can support reflection: https://github.com/grpc/grpc/blob/master/doc/server-reflection.md This is how command line and gui tools can perform dynamic querying of grpc servers. The reflection service reports the proto descriptor schema info which can then be used in a client to dynamically generate a client interface.
it all depends on what you want to do. and go would probably be a really awful way of doing it. I'm currently rewriting a datastore project, I'm doing in my spare time, to use the connect protocol(extends gRPC with full compatibility, created by buf) which expose the endpoints in a manner that is easier to target with routing, that enable dynamic routing of otherwise unknown protobuf messages, because you can build your own router. but the messages I'm routing is already wrapped in a known base structure key-value and the user must conform to that, but they can add custom typed values (because all protobuf objects specialise the bytes type) but you are able to just do stuff on demand, with custom deserialisation.