Best Approach for brokerless Python workers?

I'm developing a custom tool that needs to coordinate multiple long-running worker processes for task execution without relying on external brokers like Redis or RabbitMQ. We want to avoid multiprocessing.Pool due to the setup time required for spawning new processes. Instead, we prefer persistent, warmed-up worker processes that can handle tasks efficiently.

Would ZeroMQ still be the best choice for this, or are there other alternatives with minimal overhead?