If wanting internal and external subnets as "zones", iptables/nftables lets you match against incoming and outgoing interfaces. It would be trivial to make match against an incoming interface and jump to a zone specific chain. This is how I manage private subnets. fw-mark is also useful for setting routing rules. Can change which routing table is used by matching rules in iptables.
If wanting to do more stateful things, I'm not aware of any default package, but setting a rule to send packets to an NFQUEUE and implementing some custom logic on that nfqueue would be rather trivial too. I'm sure eBPFs are useable in there somewhere too, but I've very little experience with them.
Obviously iptables/nftables has its own issues, as seen in recent (and not so recent) posts about it being bypassable with raw sockets, but that tends to be host only and not when used as a gateway.