And yet, at least for the Unix tools I've used, nobody did write an elaborate parser. Instead, they all ended up using newlines to represent a sequence. There were never really nested structures at all. That least-common-denominator format they were forced into ended up making input and output really easy to quickly understand.
Maybe the problem with Rest APIs is that JSON does too good of a job at making it easy to represent complex structures? Maybe we'd be better off using CSV as our data format for everything.