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Thanks.

Yes, I don't need ladder (not even familiar with it), or even structured text.

I just have some M codes that are really specific and it's just a bunch of 'wait this bit', 'set target position to...', 'wait axis in position', 'set that variable', and I'm unable to think of any reason for that to be synchronized with servo-thread.

Welcome,
Just to get this out of the way, LinuxCNC has it's own implementation of PLC called "Classic ladder", in case you missed it, and as far as i know works perfectly fine in regards to synchronization with other real time stuff, but i never used it so i can not insist on it.
And i absolutely agree with you on Siemens. But considering they had 480000 strong work force at one point in time, organizing them is a huge logistical nightmare.