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Symfony, the one and only. I much prefer other languages like TS/C# but it is because of Symfony, I can tolerate lack of generics, decorators, type aliases... Arrow for methods doesn't annoy me that much. You can see some controller code from its demo here. It is using attributes, a lot, and not just for routing but also for autowiring scalars and tagged services.
As it's Symfony based, "plugins" are handled via the bundle system and have the full internal API at their disposal. The documentation for that's not always the best (the cookbook section is often the most useful), but I've never found it to be a problem, particularly as there's not a massive amount of custom Sulu code you'd actually need to interact with, so the interfaces usually suffice. Most of the common things you'd want to do are demonstrated as pull requests on the demo repo.
For strings I use Stringy (https://github.com/danielstjules/Stringy) for arrays I built my own Collection library, but pretty sure there are plenty in packagist (https://packagist.org/)
For strings I use Stringy (https://github.com/danielstjules/Stringy) for arrays I built my own Collection library, but pretty sure there are plenty in packagist (https://packagist.org/)