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I experimented with circle the other day (https://github.com/rsta2/circle) Looks promising, and most likely within your knowledge of C/C++ development.
On the other end of the spectrum there are tools like CustomPiOS that help you to get going really quickly, but they may not give you the flexibility you want. https://github.com/guysoft/CustomPiOS
I used this initramfs splashscreen modification before: DarkElvenAngel's initramfs stuff: https://gitlab.com/DarkElvenAngel/initramfs-splash Relevant Raspberry Pi forum how-to post: https://forums.raspberrypi.com/viewtopic.php?t=276545