DeepSeek Harness allows the user/agent to build its own plug-ins and run them without restart, mostly. Pi and OpenCode were then influenced to do the same in their respective new versions. I don't know which has the better implementation.
Cordis also looks interesting as an alternative, but appears more bound to DSH rather than a more general thing (which I prefer).
This is all a stopgap until I have some time to go back to my personal/custom harness.