What looks particularly complex about HTTP/2?
The "simple" text based protocols are NOT simple to implement correctly. Go try out line-wrapping and play with using \r\n vs \r vs \n as line endings and tell me what the compatibility ends up like.
And this does create real-world security problems. Some VoIP companies allow you to make free calls by screwing with their SIP proxies because popular software handles line endings differently allowing you to make their edge software interpret packets differently than their core.
Even parsing is easier in a nice binary format (and much, much, faster, too).