[ArkyBeagle]

"Lack of robust first-class support" is no reason not to become well-versed in them. Static analysis is just as possible with them as with any other style in the chosen toolset.

Debugging is particularly straightforward - events cross states, yo. :) All you need is logging. Event detection code is particularly amenable to rigorous verification.

Toolchains like ObjecTime and Rational Rose had direct support for "coding using graphic representations of FSM" but the tools themselves were somewhat unwieldy and expensive and they sort of dinosaured.