Getting 5V out of USB-C is pretty trivial, all the way up to 3A. The vast majority of hobbyist projects run on 5V, and very few of them need more than 15W.
Most of the rest seems to be over-engineering. You can get a ready-made "PD Trigger" board for literally $1 [0], which will allow you to select the desired voltage using jumpers. It even has support for the non-standard (although still common) 12V profile. Or, if you really want to do it using software, grab a $6 one from Adafruit [1] which comes with a tutorial and Arduino library.
If you really want to yak-shave, grab an FUSB302B. They are quite affordable, widely available, and provide easy access to protocol-level PD comms. It's only really needed once you want to implement something like Alternate Modes, though.