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WebRTC makes this possible, but server implementations are quite difficult to set up. I recommend you check out Pion (Golang) as a good implementation that's also easy to deploy and integrate with Node (presumably your game server is implemented in JS).

Why does TCP have so much overhead? 30 messages that you don't batch is 30 packets either with TCP or UDP.

TCP got a much higher ping delay. For real fps like multiplayer experience you definitely need UDP. Packet loss should be ignored, not retried.

This isn’t as true anymore but it’s definitely best practice to build on UDP. Games built on UDP normally have several different policies including the ability to send messages that guarantee delivery even if packets get lost.

HTTP3 is your friend here