I’m interested in this as well. I am excited about the msg command because once I get MicroPython going it should allow me to have a REPL on the device. However, to be maximally useful, it would need to be able to transfer arbitrary binary messages, even ones containing LF (0x0A) (which when sent literally seems to terminate a message), CR (0x0D) (which seems to be dropped), zeros and other bytes like your RS and US (which I haven’t tried yet). I wonder, will I have to build my own protocol on top of msg for that, or does it include a previously undocumented way already?
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