I do use MsgPack. Though CBOR while a “clone” of MsgPack also adds more ability for extensions via custom tags.
There’s standard tags for things like JWT, GPS locations, etc.
It also has a bunch of standardizations including RPC that’s widely used in IoT.
The main downside is that implementing it from the standard sucks. MagPack is very clear.
I have been searching the same thing, and CDDL too.
the best source i find is https://github.com/NordicSemiconductor/zcbor
it has both CDDL parser, c code generator, and encoder/decoder in c.
but the CDDL parser is written in python...