The best replacement for jax-rs is jax-ws.

The best alternatives to jax-rs are rated as following:
★★★★★  jax-ws
★★★  restlet
★★★  jersey
★★★  servlet
★★  jaxb
★★  resteasy
★★  cxf
  spring mvc
  jax-rpc

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No companions for jax-rs have been suggested so far.
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jax-rs
jax-ws
restlet