The most effective IPC is usually through shared memory. But there is no
OS independent standard Python module that can communicate over shared
memory.
It's true that shared memory is faster than serializing objects over a
TCP connection.  On the other hand, it's hard to imagine anything
written in Python where you would notice the difference.
Well, except in response times. ;-)

The TCP stack likes to wait after you call send() on a socket. Yes, you can use setsockopt/TCP_NOWAIT, but my experience is that response times with TCP can be long, especially when you have to do many request-response pairs.

It also depends on the protocol design - if you can reduce the number of request-response pairs then it helps a lot.
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