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I tried cocotb for several hobby projects. It's very convenient to use together with cocotb-test. You can write and parametrize self checking testbenches in a single python file.
For verilator dump files, make noise here: https://github.com/cocotb/cocotb/issues/2241 Or maybe take a look at implementing that, it looks like it would be pretty straightforward to add a command-line option for the dump file name, and then set that in the make file.
The only publicly available project example I have, is a small png encoder with this parametrization and this testbench. However this is draft code, since VUnit + GHDL is used on the main branch. (VUnit might be also an alternative if your team uses VHDL or Systemverilog.)