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bemenu (i. e. bemenu-run) is a simple launcher that has command line interface (set with BEMENU_BACKEND environment variable), also fzf can be useful in this regard but it will most likely require writing additional scripts to work as a launcher.
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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
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sway-launcher-desktop
TUI Application launcher with Desktop Entry support. Made for SwayWM, but runs anywhere
I use sway-launcher-desktop. It does not really have submenus as you requested, but is still a nice terminal application launcher.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.