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Yes, and it's pretty great. I've been using it for all my projects, having converted a number of codebases over to it from the default gRPC library with very little effort: https://github.com/bufbuild/connect-go
What I like with gRPC is that it allows both client and server side streaming. Twirp seems to not have this feature at all. In contrast the https://github.com/improbable-eng/grpc-web even supports server and client streaming while wrapping gRPC in a HTTP1.1 Web connection.
You can use grpcurl to achieve this effect: https://github.com/fullstorydev/grpcurl