i've been using xst https://github.com/gnotclub/xst, a fork of suckless st https://st.suckless.org/ for a long period, but there's also st-flexipatch https://github.com/bakkeby/st-flexipatch available which now includes sixel support

edit: the article did mention st but claimed it had no scrollback, that's what the patches are for. st-flexipatch makes it easy to enable or disable the patches via c preprocessor defines.