Believe me, given the current complexity of the TPM 2.0 interface, writing a custom program for any single use case is not any harder than wading through the current TPM documentation. Given suitable crypto libraries I'm guessing it's quite a bit easier in most cases.
> However, there's no Tillitis chip in my laptop or my desktop
Yeah, that's the thing with new approaches: they're new. Now if someone made an HSM with the same pinout as a discrete TPM, with a DICE-aware approach under the hood, you could plug it on your motherboard today.