I'm very[1] familiar with the IP family of protocols.
> Open for discussion
If you don't know what your requirements are, you shouldn't be choosing a transport technology. It sounds like you want an library that wraps WebSockets or WebRTC and handles most of the complexity.
> WebUDP could implement it's own [transport] layer over pure UDP
Then you want TCP. The only reason to use UDP is to avoid the complexities of a transport layer. Transport reliability is very hard; this isn't something that is easy to re-implement by yourself in UDP.
More importantly, I take it you don't know what your MTU is? The Maximum Transmission Unit[2] the maximum packet size. On ethernet-based networks, it's probably ~0-100 octets less than ethernet's 1500 octet MTU. You need to keep UDP packets under this limit, or they will fragment. Fragmented IP packets may not arrive at all and even when they do, the OS will wait until all fragments arrive before passing the data up to the app. If you're insane and send HTTP headers in each packet, you've wasted most of your data space. Each packet? Shouldn't we send headers in the first packet only? Except that every packet IS the "first packet" in stateless protocol like UDP. It's the transport features of TCP that create ordered-data semantics.
[1] I used to write firmware for embedded systems. That included writing - from scratch, in Z80 asm - the entire network layer: ethernet (RealTek), ARP, IP, UDP, TCP, SNMP, HTTP, etc.