Reply to your message edits:
> 1) UDP leaks information, thereby violating the C in CIAA.
Which information? Properly encrypted UDP only shows destination IP and port number. Your protocol shows destination IP and protocol number (99) -- since very few people use it, protocol 99 is as distinct as UDP port.
Moreover, if you are concerned with UDP port leak, you can just use a random destination port on server, or masquerade as some other UDP protocol. There is no such option with current ControlMQ system
> TCP is subject to the SYN resource exhaustion attack, and is connection oriented which is brittle.
You do know about SYN cookies, right? And you know that SYN flood is easily defeated now -- for example, out of 5 most significant DDOS attacks in 2016 (https://www.tripwire.com/state-of-security/security-data-pro...) , none used SYN flood.
> Both are vulnerable to packet replay attacks, which is a particularly troubling problem for controls.
Any control connection should use encryption. Every popular encryption method (including TLS and QUIC) protects against replay attacks.
> 2) The pen testers that evaluated our technology we believe to be highly competent.
Well, all I have is front page quote, and I see the words "We were unable to [...] observe [...] the message traffic" and "TCP and all the UDP ports only list that they are open/unfiltered". This apparently means they could not even use wireshark to observe the IP message traffic -- they just ran "nmap" and found not ports. This is pretty sad for a pentester. I would expect to see mentions of DOS attacks and fuzz testing.
For example, what happens if I just start sending random packets to your daemon? How many packets per second it can handle before it fails over? What if I compromise a client, extract a session establishment key from it (assuming you have one), and start to establish new sessions? how many will your server handle before failing?