Why is SNMP usually run over UDP and not TCP/IP?

Check out O'Reilly's writings on SNMP: https://library.oreilly.com/book/9780596008406/essential-snmp/18.xhtml

One advantage of using UDP for SNMP traps is that you can direct UDP to a broadcast address, and then field them with multiple management stations on that subnet.

UDP is actually expected to work better than TCP in lossy networks (or congested networks). TCP is far better at transferring large quantities of data, but when the network fails it's more likely that UDP will get through. (in fact, I recently did a study testing this and it found that SNMP over UDP succeeded far better than SNMP over TCP in lossy networks when the UDP timeout was set properly). Generally, TCP starts behaving poorly at about 5% packet loss and becomes completely useless at 33% (ish) and UDP will still succeed (eventually).

So the right thing to do, as always, is pick the right tool for the right job. If you're doing routine monitoring of lots of data, you might consider TCP. But be prepared to fall back to UDP for fixing problems. Most stacks these days can actually use both TCP and UDP.

As for sending TRAPs, yes TRAPs are unreliable because they're not acknowledged. However, SNMP INFORMs are an acknowledged version of a SNMP TRAP. Thus if you want to know that the notification receiver got the message, please use INFORMs. Note that TCP does not solve this problem as it only provides layer 3 level notification that the message was received. There is no assurance that the notification receiver actually got it. SNMP INFORMs do application level acknowledgement and are much more trustworthy than assuming a TCP ack indicates they got it.

If systems sent SNMP traps via TCP they could block waiting for the packets to be ACKed if there was a problem getting the traffic to the receiver. If a lot of traps were generated, it could use up the available sockets on the system and the system would lock up. With UDP that is not an issue because it is stateless. A similar problem took out BitBucket in January although it was syslog protocol rather than SNMP--basically, they were inadvertently using syslog over TCP due to a configuration error, the syslog server went down, and all of the servers locked up waiting for the syslog server to ACK their packets. If SNMP traps were sent over TCP, a similar problem could occur.

http://blog.bitbucket.org/2012/01/12/follow-up-on-our-downtime-last-week/

The use of traps with SNMP is considered unreliable. You really should not be relying on traps.

SNMP was designed to be used as a request/response protocol. The protocol details are simple (hence the name, "simple network management protocol"). And UDP is a very simple transport. Try implementing TCP on your basic agent - it's considerably more complex than a simple agent coded using UDP.

SNMP get/getnext operations have a retry mechanism - if a response is not received within timeout then the same request is sent up to a maximum number of tries.