I can easily recommend Extempore (xtlang) especially if you're a bit more advanced programmer. The underlying core is a tasteful mix of C-aligned semantics (think LLVM) that manifests as S-expressions with the usual goodies. It is statically typed with inference.
Another forte is scheduling via temporal recursion.
It has a solid memory allocation strategy, via memory arenas, oriented to high performance and low latency. Higher level constructs like closures can live in arenas. You can also introduce some custom dynamic cleanup routines for RAII-like behavior.
I seriously think it could work well outside of its niche as well.
Here are some lectures: https://www.youtube.com/watch?v=yY1FSsUV-8c, https://www.youtube.com/watch?v=GSGKEy8vHqg
Demo of temporal recursion in Scheme for Max here: https://youtu.be/pg7B8h4yHkU
And my tutorial on it: