Have you ever considered making LFTP a server process? As in, you could send commands to a shared server process that executes the transfers and streams progress back the the client? In theory multiple processes could initiate transfers and re-use connections.
For that matter, have you considered making machine-parseable output an option? Maybe JSON like: {"type": "progress", "progress": 10, "bytes_transferred": 10000, "bytes_total": 100000, rate: 1} (where progress is in percent and rate is in K/s) And then maybe something like this when it finishes? {"type": "complete", "result": "error", "error": "transfer aborted"}
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