HTTP/2 supports multiplexing, which allows multiple requests and responses to be sent and received over a single connection concurrently. This means that multiple gRPC calls can be performed over the same HTTP/2 connection simultaneously, even if they are initiated almost simultaneously.
Though, it's essential to note that the behavior may vary based on the specific gRPC library implementation and configurations. Some libraries might have connection pooling mechanisms or other strategies to optimize connection usage. Additionally, the server may limit the number of concurrent streams on a single connection, which could result in opening additional connections if the limit is reached.