For many purposes, Starlark[1] could be used as an alternative to Lua. It's also designed to be embedded, it's a very simple language, and has 3 implementations (in Java, in Go and in Rust).
In the design of Starlark (https://github.com/bazelbuild/starlark), I often had to push back against new feature requests to keep the language simple. I explicitly listed simplicity as a design goal.i
Of course, the scope of the language is not the same as general purpose languages, but there's always pressure from the users to add more things. I also think many people underestimate the cost of adding new features: it's not just about adding the code in every compiler/interpreter, specifying every edge-case in a spec, updating all the tooling for the language and writing tutorials; it's also a cost on everyone who will have to read any of the code.
Have you seen Starlark? It's not too far from that, but safer in a number of ways: https://github.com/bazelbuild/starlark
And if you need python-like configurability/reprogrammability, with go, you can use Starlark.