I'm not super familiar with it, but ATS[1] might fit the bill in having dependent types and linear types but supporting both functional and imperative paradigms. It's pretty darn obscure, though.
doublec's ATS articles are probably the most accessible introduction: https://bluishcoder.co.nz/tags/ats/index.html
Other than that the documentation is very decent for a one-man research project. (I say "research project", and it is, but it has huge practical value as well.)
Still, I have very high hopes for ATS.