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If you bought your PC in last ~10 years or so, then DOSBox Staging is going to work well enough for any DOS game you will throw at it. Plus, it perfectly emulates Gravis Ultrasound as well.
It is possible to cross compile to DOS using DJGPP, which gives you a modern day toolset and easily lets you write protected mode programs. I've done a tiny bit of experimenting with it and it's a pretty nice way to easily build DOS programs from the comfort of all your regular modern tools.
I have the source code which i have uodated but here is the main library. I tried to make a dos emulated soundblaster layer compatible driver that uses the hd audio but it doesnt really work judas HD audio for dos
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