I think this overstates the difficulty.
I meant not just implementation difficulty, but also use-time complexity. While not entirely comparable, consider in ROS1, the use of XML-RPC was the root cause of all the mess with ROS_NAME/ROS_IP, and the various DNS resolution issues that led to. At least in my experience, lots of people struggled with that.
You’re taking in an entirely new communications stack, with all the side effects that has.
Sure, you can try and avoid that, for this special case, but that’s just why I’m suggesting that we investigate whether it’s really necessary first, instead of barging headlong into an implementation.