Possibly close to what you describe, gqrx (a GUI SDR Linux app) has a remote control protocol that can be typed by hand or scripted over telnet. And it has the option to stream the audio over UDP to a remote host.

For a demo of the remote control protocol, see this video: "Ham Radio - Network sockets and remote control of GQRX SDR with telnet and python"[1]

[1] https://www.youtube.com/watch?v=7Rd7Sd9hRBo