Just for a point of reference here is Google’s take on the exact same topic. It has a bit more of a gRPC background but still is very REST friendly by default.

https://cloud.google.com/apis/design/resources

Also as one of the most common pushbacks people have with gRPC is that everyone generally expects JSON still in 2021 especially in the browser. Not sure if this is super well known or not but gRPC integrates well with things like envoy which allow you to write a single gRPC API and have it serve and respond to both native gRPC and standard REST / JSON calls.