Yeah it's almost weird it doesn't seem to exist, at least publicly. My megacorp created their own protocol for this purpose (though it might actually predate ACME, I'm not sure), and a bunch of in-house people and suppliers created the necessary middlewares to integrate it into stuff like cert-manager and such (basically everything that needs a TLS certificate and is deployed more than thrice). I imagine many larger companies have very similar things, with the only material difference being different organizational OIDs for the proprietary extension fields (I found it quite cute when I learned that the corp created a very neat subtree beneath its organization OID).