In TP you could use inline Assembly in several ways.
It could be just a block, a complete procedure/function with or without prolog.
Also it was quite comfortable to write, just as a plain macro Assembler with Intel syntax, not those asm functions with strange syntax used in gcc/clang.
If that was the way it was done in TP, the BBC micro (which was mentioned quite a bit in the recent HN thread about BASICs on personal computers of earlier years), also had a similar feature. I did use that one a bit. You had to open a square bracket in the middle of your BASIC program (though probably not in the middle of a BASIC statement), write your assembly code (6502 instruction set), and then close the square bracket, IIRC.
D (language) these days also has the ability to mix in assembly, though I haven't tried it yet.
Edited for typos and wording.