I would try Apache Spark. It's fairly easy to get it running locally, and does not require Hadoop. It provides the query engine.
With a little bit more poking: Apache Calcite?
I would think maybe extending SQLite to use columnar storage would be one possible path that might make sense.
There are columnar DBMS engines you can embed like MonetDB, but I personally haven't seen a lightweight query engine sitting right on top of Parquet/ORC, or implementing Arrow for in-memory columnar. You can get Apache Spark up and running pretty quickly on a single node, but I haven't seen anything even easier than that.