I find myself referencing this list of embeddable scripting languages pretty frequently: https://github.com/dbohdan/embedded-scripting-languages

Ones that might be of interest to you are Umka, tcl, and berry.

There's also a lot of others listed that range from someone's experimental side project to professional grade and well supported languages. Kinda fun to see different people's approaches to things, and no matter what your preferred programming style, there's probably a few in there that will mesh pretty well.