I've looked at the PiStorms stuff MindSensors (Lego Mindstorms compatible). Unfortunately it all seems to be just Python2 based.
Looking at all the code it seems you're always basically running your own event loop (infinite while True: loop). I think it'd be really awesome to utilize Python 3's asyncio package to write more event driven programs.
Writing code in asyncio is basically a different paradigm. It's not like Golang where you can write a function and not care if someone is calling it synchronously or starting a goroutine with it. With Python asyncio it seems for every good library out there someone has a create an asyncio version of it. For instance "requests" vs. "aiohttp".
So, while embracing Python 3 still wouldn't get me what I ultimately want, it's a first step in the right direction.