CBOR is basically a fork of MsgPack. I prefer the original - it’s simpler and there are more high-quality implementations available.
https://www.w3.org/TR/webauthn-2/#sctn-conforming-all-classe...
Reading through this, it looks like they toss out indefinite length values, "canonicalization", and tags, making it essentially MP (MP does have extension types, I should say).
https://fidoalliance.org/specs/fido-v2.0-ps-20190130/fido-cl...