> preferably not need an external library or a custom parser. Json, Csv, Toml, S-Expressions, protobufs all fail one of more of these requirements.
And XML doesn't? Quite a few (not all, but quite a few nonetheless) programming languages include zero support for reading or writing XML-formatted data without using an external library or custom parser. This includes nearly all languages that predate XML, and quite a few languages that postdate it. Even when a language does have built-in (or at least in the standard library) support for XML, it's almost always a royal pain to use, especially once namespaces and schemas are involved.
Once upon a time, though, the answer was (and in a lot of places still is) INI:
- It's human-editable and supports comments
- It supports more complex structure than CSV
- Some languages have built-in support for it, and the Windows and GLib APIs support it, too (well, something similar enough to be compatible, in the latter case)
INI falls flat when you need to express deeper levels of nesting than keys and sections, though.
There's also YAML, which meets all your criteria about as well as XML does (at least on average; your specific language/platform might favor one or the other).