Earlier quoted context omitted.
Protobuf has far better ergonomics than ASN.1. ASN.1 is an overcomplicated design-by-committee mess. Backwards compatibility in particular is much harder.
I don't doubt your experience, but with X.509 having evolved substantially, and ASN.1 on billions (if not tens of billions) of devices, in practice it seems OK. And it was formally verified early.
For high performance and critical stuff, SBE is much more suitable, but it doesn't have as good of a schema evolution story as protobuf.