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.
Binary protocols just meant you actually needed to implement serialiser/deserialiser and similar tooling instead of writing dumbest possible riff on strtok() and hoping your software won't be used anymore once DoD internet becomes mature