When should you use RPC instead of REST for talking between services inside a company?

We're refactoring some of our microservices right now and need to pick a communication method. We've mostly used REST before, but I'm wondering if RPC, like gRPC, makes more sense for certain internal things. I mean, are there situations where RPC's speed, strict typing, or streaming features are better than just sticking with REST's simplicity and popularity, especially when our own services are talking to each other? What kind of things do you think about when you're trying to figure this out?