Are not there any satisfiable codecs?

=> https://en.wikipedia.org/wiki/Distinguished_Encoding_Rules#DER_encoding DER
=> https://en.wikipedia.org/wiki/Distinguished_Encoding_Rules#CER_encoding CER
=> https://datatracker.ietf.org/doc/html/rfc1014 XDR
=> https://www.JSON.org/json-en.html JSON
=> https://bsonspec.org/ BSON
=> https://msgpack.org/ MessagePack
=> https://datatracker.ietf.org/doc/html/rfc8949 CBOR
=> https://datatracker.ietf.org/doc/html/draft-mcnally-deterministic-cbor-11 dCBOR
=> http://cr.yp.to/proto/netstrings.txt Netstrings
=> https://wiki.theory.org/BitTorrentSpecification#Bencoding Bencode
=> https://en.wikipedia.org/wiki/Canonical_S-expressions Canonical S-expression

            | Schemaless | Simple | Deterministic | Streamable | Compact
ASN.1 DER   | N          | N      | Y             | N          | N
ASN.1 CER   | N          | N      | Y             | Y          | N
XDR         | N          | Y      | N             | N          | N
JSON        | Y          | N      | N             | Y          | N
BSON        | Y          | Y      | N             | N          | N
MessagePack | Y          | Y      | N             | N          | Y
CBOR        | Y          | N      | N             | Y          | Y
dCBOR       | Y          | N      | Y             | N          | Y
Netstrings  | Y          | Y      | Y             | N          | ~
Bencode     | Y          | Y      | Y             | Y          | ~
CSExp       | Y          | Y      | Y             | Y          | ~
KEKS        | Y          | Y      | Y             | Y          | Y

            | BigStr | BinStr | UTF8Str | Int | BigInt | List | Struct | Time
ASN.1 DER   | Y      | Y      | Y       | Y   | Y      | Y    | Y      | Y
ASN.1 CER   | Y      | Y      | Y       | Y   | Y      | Y    | Y      | Y
XDR         | N      | Y      | Y       | Y   | N      | Y    | Y      | N
JSON        | Y      | N      | Y       | Y   | Y      | Y    | Y      | N
BSON        | N      | Y      | Y       | Y   | N      | Y    | Y      | Y
MessagePack | N      | Y      | Y       | Y   | N      | Y    | Y      | N
CBOR        | Y      | Y      | Y       | Y   | N      | Y    | Y      | N
dCBOR       | Y      | Y      | Y       | Y   | N      | Y    | Y      | N
Netstrings  | Y      | Y      | N       | N   | N      | N    | N      | N
Bencode     | Y      | Y      | N       | Y   | Y      | Y    | Y      | N
CSExp       | Y      | Y      | N       | N   | N      | Y    | N      | N
KEKS        | Y      | Y      | Y       | Y   | Y      | Y    | Y      | Y

Note about CBOR:

* Hardly you will find wide range of CBOR libraries supporting strict
  validation of deterministically encoded CBOR structures.
* Tagged string/integer can not be taken as a viable first-class
  bigint/datetime data support, because many decoders do not support
  tags and won't be able to interpret/validate them.
* Non-string map keys very complicates representation process for
  dynamically types languages.