I've worked in an embedded Linux system that was a greenfield project. We needed a library that was written in a certain language, but we also wanted Python for the rest because getting the logic right with a client that changed his mind often was top priority and the data crunching was minimal.

So we ended up using protobufs over a local MQTT broker and adopted a macro-service architecture. This suited the project very well because it had a handful of obvious distinct parts and we took full advantage of Conway's law by making each devs work the part where their strengths and skills were maximized.

We made a few mistakes along the way but learned from them. Most of them relating to inter-service asynchronous programming. This article put words on concepts we learned through trial and errors, especially queries disguised as events.