Earlier quoted context omitted.
I was using "never implement your own crypto" as an example. I think that "never implement your own crypto" is a more important rule to follow than anything regarding TCP. On the other hand, if you don't know much about networking, trying to reimplement TCP over UDP isn't likely to gain you better performance. As with most things, there is no substitute for knowing what are doing.
I know it was an example, but the crypto saying is actually a good rule of thumb, while "don't do TCP" is a pretty bad rule of thumb. You don't need to know that much about networking to get something that's better than TCP in this specific use case. It may be unoptimized and terrible but your goal is latency. Just pretend that 5% of packets will get lost and do something to compensate, and you beat TCP on imperfect…
WebRTC went for UDP-encapsulated SCTP in order to get a transport without HOL blocking. I'd look into that or an existing UDP game net transport (like Enet) first.