Some people are really good ... See Khaled Gobashy for example, author of a framework for multibody simulation called Uraeus, available on github.
He wrote four detailed articles on LinkedIn to explain his approach
- Symbolic Multi-Body Dynamics in Python - An Introduction (10/2019)
- Symbolic Multi-Body Dynamics in Python (10/2019)
- Multi-Body Dynamics in Python (05/2020)
- Building a Multibody Model of a Double-Wishbone Suspension System in Python (01/2021)
That looks promising !