I have made a port of the eRPC library to Teensy for test purposes. It can be found there: https://github.com/jasa/teensy_erpc if anyone wants to try it out. It depends on the case, but it can certainly be recommended if you are considering using someting like nanopb.

Read NXP's wiki for documentation: https://github.com/EmbeddedRPC/erpc/wiki. A full download of eRPC is needed to compile IDL stub compiler and windows/linux libraries. It also contains full Python support.

Please read the wiki carefully before you try to configure and compile the library. It's not a beginners task.

It only depends on the FastCRC library.