Just use GRPC:

1. fully supported in .NET
2. fast
3. binary serialization
4. automatic source generation

https://learn.microsoft.com/en-us/aspnet/core/grpc/basics?view=aspnetcore-9.0

For your case schema is absolutely simple :-D

message Wheel{
    double diameter = 1;
    string tireSize = 2;
    string boltPattern = 3;
}

message Car{
    int32 year = 1;
    string name = 2;
    repeated Wheel wheels = 3;
}