If I'm not allowed to toot my own horn, I think for controls, you probably should not start with choosing a programming language, the first step is learning control theory and automata theory, you kinda have to understand feedback control/PID/steady state/jitter/hysteresis and the like. Python has never had great control libraries to begin with as far as I can remember (my info could be a bit outdated though), so the paid option is still Matlab/Simulink as it is their last niche really.
Embedded firmware, probably C/C++/Rust. Not the answer you want to hear, but these are the languages for bare metal applications. Of course, if you are just using an Arduino/Pi, just use their SDK for their hardware on whichever language they support.
Those two fields are just not very friendly towards beginners in general.
Yeah! Like when helping teens set up PID controllers for their CAN-bussed robot, it was very much a "we've got a lot of example working Java code with a PID Controller library already. So we're using that." The language itself is so inconsequential at the early stage, that you really just pick whatever gets in your way the least.
Please do toot your own horn. I assume you're referring to https://github.com/yuechen-li-dev/oct — tell us why it's good.