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Wren
The Wren Programming Language. Wren is a small, fast, class-based concurrent scripting language.
Maybe AngelScript (https://en.wikipedia.org/wiki/AngelScript) could be a good fit, used in a bunch of released games, so seems to be good enough for real work.
Wren (https://wren.io/) is another interesting language, but I haven't even tried it myself, but on the surface it seems to match.
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Sevalla
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According to this benchmark of Lua vs QuickJS[1] the Dino language[2] is supposedly much faster than Lua. It also seems to check most of my boxes?
[1] https://sabotage-linux.neocities.org/blog/9/
[2] https://github.com/dino-lang/dino