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I'm a big fan of NATS. It a small binary which can be scaled as much as you want and it replaces Kalfka, lightweight MQTT brokers, etc and has clients for most languages.

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https://nats.io/ https://github.com/nats-io/nats-server

Is it suitable for embedded applications? (very low resources, intermittent network availability, etc)

The NATS protocol [0] looks pretty simple, but is text based unlike MQTT which uses a size optimized binary protocol.

[0]: https://docs.nats.io/nats-protocol/nats-protocol

NATS actually also has support for MQTT[0]. If you already have a deployment for queues, microservices, etc, using the NATS mqtt endpoint seems like a very good option.

[0] https://docs.nats.io/nats-server/configuration/mqtt

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