That's an excellent question! To answer it, we need to rewind to the year 1998. Nobody had ever heard of JSON (2002) or REST (2000) or SOAP. If you wanted to do remote procedure calls, you needed to use Sun RPC or Corba or another binary RPC stack. Some of these required tens of thousands of lines of C code to implement, and I don't even want to think about the security issues.
Basically, XML-RPC was trying to be REST+JSON before that was a thing. It had already been implemented for most scripting languages, but one of my consulting clients needed a C implementation to interoperate, so I wrote xmlrpc-c in a couple of busy weeks around the end of 2000, I think.
Back in those days, XML had a very clear 30 page spec and XML-RPC had a 2 page spec. If you want to argue that I was wrong to use C to implement 32 pages of pretty good specs, or that I was wrong to use the best off-the-shelf XML parser of the day, well, I agree. But I think we need to demand more from our system languages.