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There is a lot of work going on for adding Python. Guenther pushed a PR with code from PythonSCAD . It is under technical review - design, api and code. https://github.com/openscad/openscad/issues/4880 this is the tracking bug.
http://projects.haskell.org/diagrams/ extended into 3D.
Guile/Scheme: https://libfive.com/
Go: https://github.com/deadsy/sdfx
The only C++ toolset I'm aware of is: https://github.com/aewallin/opencamlib --- I don't see anyone stepping up to use it to make anything which they wish to share (let alone support).
Directly programming in G-code is a non-starter given that Grbl doesn't have loops or branching or variables, and I can't find a good example file for: https://github.com/NRSoft/GSharp