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You also don't have to use the Arduino program downloader. There are alternatives such as https://github.com/Koromix/tytools which works great with Teensy.
Many of the Arduino libraries (the 'Wire' library for I2C support for example) were written by people on the Arduino project and their quality varies drastically in my experience. Some are OK, others are abysmal - poor exception handling and weak documentation is unfortunately not unusual. Ask me how I know this. But you don't have to use the Arduino libraries, you can write you own or find industrial-strength ones such as (for Teensy) the robust and well-documented https://github.com/nox771/i2c_t3 library.
The 'Arduino IDE' was mostly not written by Arduino - it was originally the Processing project (see https://processing.org/). I'm told there is no love lost between Processing and Arduino. Many programmers don't use the IDE for anything other than compilation, as a simpler alternative to utilities like 'make'. You can use any editor you like, for example Sublime Text, or Notepad++ (two I use) or dozens of others.
The underlying 'Arduino IDE' compiler is not written by Arduino, it is GCC with extensions (some written by Arduino). See https://gcc.gnu.org/. But even that varies. For example if you are programming ARM micros such as the 32-bit Teensy family, it will be a different version of GCC with ARM extensions. The GCC compiler is widely used commercially and has been for many years. Arduino the company was smart to use it.