These days I program almost exclusively in rexroth flavor codesys whether it be in Indraworks engineering, or CtrlX Works.
Different companies basically take vanilla codesys and put their skin on it, but the bones remain the same. It is capable of using all your standard IEC61131 languages and more.
Its more common in Europe than US for sure, but if you're open to getting familiar with a new programming system there's no reason it can't do what you want it to do.
I have a Raspberry pi running codesys at home that I use basically for homebrew projects, and its amazing what that little thing can do for a 10$ piece of hardware, and a 60$ license(runtime shuts down after 2hrs unlicensed and you have to manually restart). For science I created an ethercat master and connected to some remote IO, and it worked fine, and actually capable of super high clock speeds. Includes Ethernet IP scanner/adapter, I just dont typically use them.
https://store.codesys.com/en/codesys-control-for-raspberry-pi-sl.html