Right now Cerbos is a standalone service and we have found the network hop to be negligible, even in high-throughput cases, but this very much depends on the infrastructure. From personal experience running 100k+ QPS apps on kubernetes, the calls out to sidecars have never been the bottlenecks.
That said, we have been looking at what it would take to be an embedded library but it is not something available now.
What is your use case that requires this approach?