When doing security research I regularly use my NtObjectManager PowerShell module to discover and call RPC servers on Windows. Typically I'll use the Get-RpcServer command, passing the name of a DLL or EXE file to extract the embedded RPC servers. I can then use the returned server objects to create a client to access the server and call its methods. A good blog post about how some of this works was written recently by blueclearjar.
