Earlier quoted context omitted.
A lot of the textual nature of older IETF protocols, including the CR LF line endigns, can be probably traced to how easy it was to bang out a bad implementation full of subtle problems that could be debugged by sitting an undergrad student at a teletype instead of spending time on having some binary serializer (that telecom companies definitely had money for)
It's also a reflection of the state-of-the-art at the time. Binary protocols were an unmitigated disaster, with standards bodies thinking that applying to the ISO for your organizational ID is a perfectly fine step that anyone does anyway.
Fortunately there is the 2.25 OID arc now, which you can use without any registration with anyone. There are also other ways to register OIDs for free. (I think that it is better than using domain names, which can be reassigned, and also require registration anyways. IDN is an even more severe problem (it could have been designed better, but they made it worse instead).)
I had idea (which would have to later be made standardized by ITU or ISO (preferably ITU)) of a new OID arc which allows you to combine an existing identifier (of many different types, such as: international telephone numbers, amateur radio call signs, internet domain names (encoded as bijective base 37), IP addresses, ICAO airport codes, etc) with a timestamp, and optional auto-delegation. (You can then add additional numbers like you can with other OIDs too)
Binary protocols have other benefits as well, such as not requiring escaping, and allowing binary data to be transferred is a way that is not as messy, not causing problems with character sets, etc.