We have an isvc that would accept kserve v2-style requests using gRPC, but for this to work for clients, we will need to make sure k8s and related components (like Istio) route the request traffic correctly (in and out).
At a minimum, the port v2/gRPC is served on will have to be part of the isvc deployment chart/template (if it's a separate port).
It's also not quite clear yet whether Istio would just accept/route this traffic or whether it needs tweaking. It's probably best to just try it.
We will eventually also have to update our docs (that usually mention curl) to describe how gRPC calls can be made.