Although I don't use the Darwin feed via RDM (no problem with it or the data, we've just got other connectivity), from the 'Preview' option on the RDM, it looks like the JSON is as you say simply the headers on the messages coming from Darwin itself.
I'm not aware of any official schemas for the AVRO or JSON format data - the XSDs referenced in RSPS5053 are the canonical ones.
I imagine somebody thought a good idea to convert the messages from XML to JSON and AVRO format to make it 'easier' to consume. Whilst that may be true for languages which don't have support (e.g. external libraries) for XML parsing, almost everything in common use these days does, so the lack of a schema ironically makes it more difficult as you don't have anything to flag up breaking changes!
If you were asking for advice on what to do, I'd suggest you consume the feeds in XML format via RDM.
Peter