I can also recommend Inkstitch. Sure you have to do a little manual love sometimes, but honestly, tweaks are needed a lot of the time in general.

Inkstich is the best option right now, but I can't wait to see the new possibilities now with AI. Inkstitch feels very disadvantaged by being a plugin, everything you do requires navigating multiple layers deep in the inkscape plugin menu.

A from scratch embroidery program could lift all of these options to the top layer UI where they belong, but understandably rebuilding the whole editor part is a lot of code.