I think most GUI CADs have some kind of API like this. In FreeCAD it's Python. In Solidworks, it's VBA or C#. I don't think any are particularly well documented or supported by tutorials.

Solidworks has VBA macros, which (on top of being poorly documented and unstable) subvert to the whole benefit of parametric CAD. Once you're creating features with a macro, you naturally want to edit them, but you also naturally want to rerun the macro itself to create them differently. It's like editing generated code and it's not a viable long-term setup.

FeatureScript is a different beast. It actually runs as part of regeneration in Onshape. Standard features (extrude, loft...) are also defined in FeatureScript, so your custom features are the same first-class citizens with a interactive GUIs and stable updates to upstream changes. You can freely mix interactive CAD and custom code by adding standard features and custom features.

https://cad.onshape.com/FsDoc/