Yes, managing communication or other centralized resources is harder that way which is a challenge for "embedded Docker". Rocket does not have this problem because it relies on systemd to manage all this centrally under the hood. So you get "daemonless" as long as you sweep everything under the giant systemd rug :)
From my practical POV, my options now are: port Docker (NOPE), reimplement Docker (NOPE GOD WHY), port Rocket (Maybe?), reuse spec and pieces of Rocket's code in my own opinionated NIH plumbing (Hell yeah, somebody did the thinking part for me! The spec is usable!), or write own opinionated NIH plumbing from scratch (why would I if there's a decent spec to lean on?).