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So in this/your view, Protobuf and CBOR would be used in different scenarios?

Yeah, protobuf requires that both parties agree on a schema whereas CBOR is self-describing like XML or JSON.

CBOR also has a schema format, but yes, it's typically used schemaless.

I hadn't heard of this, so I had to look it up: https://tools.ietf.org/html/rfc8610