Those requirements are at odds with each other though. If you want to get the most out of MCU hardware you typically use C/C++/Rust, either as a whole or via a custom build of MicroPython/NodeMCU/Espruino. MicroPython has some interesting options for high performance code that you (optionally) run on your PC before deployment.

Besides that, there are other languages that have similar characteristics. Wren (https://wren.io/) is pretty nice but doesn't have type annotations or explicitly target embedded.