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Possibly close to what you describe, gqrx (a GUI SDR Linux app) has a remote control protocol that can be typed by hand or scripted over telnet. And it has the option to stream the audio over UDP to a remote host.

For a demo of the remote control protocol, see this video: "Ham Radio - Network sockets and remote control of GQRX SDR with telnet and python"[1]

[1] https://www.youtube.com/watch?v=7Rd7Sd9hRBo

SDR Sharp has a good server implementation. It doesn't send the entire I/Q stream (which is 2 megabytes / second for each MSPS at 8 bit precision), but rather sends the FFT processed waterfall plus only whatever you are currently tuned to. Works really well even on weaker network links. If bandwidth is not a problem you can of course just stream the entire I/Q, SoapySDR has that option.

I wrote this years ago with that intent, though I don’t know you’d get audio back in real-time.

https://github.com/madengr/ham2mon