When making a gRPC connection, the client can optionally provide credentials so that they may also be authenticated.

In the case of a new client, how can a set of keys and certificates be established?

On first connection (without certificates) a username/password approach would be necessary, but after, could the server sign the clients' public key after a secure connection is made?

Since the client would only ever dealing with the same server, it seems that the server signed certificate wouldn't be a problem.

Does this sound like a reasonable approach or is the whole premise incorrect in the first place?

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