You don't need to make up your own for this experiment. There's already a pretty old protocol that's far superior to TCP, but failed to get adoption because of network hardware dropping everything other than TCP and UDP. It's called SCTP.
SCTP is really cool, I first found out about it because it’s the basis for WebRTC data channels. It’s basically reliable UDP, but you can turn off the reliability if you want. Makes me wonder why QUIC exists when SCTP does…
more importantly though, it transmits multiple independent streams of message chunks in parallel.
similarity with UDP ends at message oriented nature of the protocol. closest equivalent for TCP would be MPTCP I suppose ?