Transactions in MVCC are relatively cheap. The main resource of contention is a global txid that can disastrously wrap around if autovacuum is disabled. That process is responsible for a few other important tasks, like updating statistics for the query planner and maintaining BRIN indexes.
I should clarify. I meant holding a transaction for the duration of the message.
The times I have done this, I end up with a workflow where the "select for update ... skipped lock" is used only to initially mark the job as "taken" so that other processes do not start working on it. That update is committed in one transaction and then the "work" is done in second transaction.