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Can a domain have multiple TXT records?

Yes, if you spend time in SMTP land you will see lots of domains with multiple TXT records for things like SPF and DKIM. Also, services like Barracuda, Gsuite, O365, etc that use a TXT record to verify you control the domain. Let's Encrypt uses that mechanism as well.

The dns_cloudflare [1] also automates the cert generation and follow on renewals on a cron or via nginx proxy manager. Uses cloudflare API key, modifies the TXT record, issues/updates a cert and deletes the record.

[1] https://certbot-dns-cloudflare.readthedocs.io/en/stable/

Matrix federation also uses some txt records (as well as srv) to point other servers go your matrix instance domain

Yes.

Though you'd probably need to label them, or you'd run into the same UDP length issues. Also, there is no guarantee in order the records are returned.

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