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Check out Valve's game network sockets layer, it addresses a lot of the things you're worried about

https://github.com/ValveSoftware/GameNetworkingSockets

Some games encrypt them, but while I would normally never say this - there's nothing really to protect over the udp packets if it's just game state. And you want to keep the latency as low as possible for those packets.

You want to do everything else over tcp and encrypted.

I remember quite a few aimbots back in the day would MITM packets so there are some reasons you might want to do it from a defense in depth perspective.

One option is DTLS[0], which is roughly TLS for UDP.

[0]: https://en.wikipedia.org/wiki/Datagram_Transport_Layer_Secur...

HTTP/3 with QUIC as transport will be using UDP and is encrypted.

I assume it will change quite a few things for these kind of needs.