You could have actually made this 15 years ago! As a kid I pretty much only knew PHP and Visual Basic so I made CLI servers in PHP (…lol)
You could make asynchronous servers using socket_select(), which was added in PHP 4.1.
https://www.php.net/manual/en/function.socket-select.php
There was also a third party extension that added threads to PHP 15 years ago, although it was buggy.