Is there any serialization format that is more "friendly" to memory allocators while still being human-readable and -writable?
For large files it is best to use a binary format that can be read quickly without parsing or allocation. https://rkyv.org/ is an example.
Being 'friendly' is not why JSON is popular. JSON is popular because the decoder is included the web browser.
I appreciate the thorough "shootout" benchmarks provided by the authors as well!