Among those binary formats, this one benefits from the ubiquity of OpenSSL (see asn1parse) for debugging.
Also, turns out that if you work with it long enough you can read the binary encodings almost like it is text.
I'm curious what encoding rules that applies to: BER/DER I could easily believe, aligned PER a bit less so, and unaligned PER with lots of extensions and optional parts would be impressive.
SNMP is, IIRC, inspired by much more capable CMI which was part of OSI stack of protocols and is still used in some high end WAN network gear for monitoring and control (whereas "write" aspects of SNMP have mostly disappeared)