Thanks to Erwin Jansen for these samples and this readme. (I just formatted this and threw it in a gist to make it more shareable and readable)
Samples can be downloaded here: https://android.googlesource.com/platform/external/qemu/+/refs/heads/emu-master-dev/android/android-grpc/docs/grpc-samples
This is currently an experimental feature, and as such there are some things lacking that might be important if you want to use this in production: