GNU poke is already really promising. You can have a look at this presentation from Kernel Recipes 2019 to get a rough idea of what it looked like ~two years ago:

https://www.youtube.com/watch?v=92Sykut06N8

Think of it as the missing tool between an hex editor and a programming language. Hachoir, Kaitai, linker scripts or most reverse engineering toolkits (radare, etc.) all try to address a similar problem, but from a different angle.