Some well-known satire/parody languages are Omgrofl, Shakespeare, ArnoldC, but there're many more. Can check https://esolangs.org/wiki/Category:Thematic & https://esolangs.org/wiki/Category:Joke_languages. But although weird esolangs, don't see how Velda and Piet be considered satire.
INTERCAL was also a satire of the programming languages of its era, AFAIK.
I would say these are just joke languages that aren't trying to parody anything or use satire.
When I think of parody or satire in programming languages, the example that comes to mind is the "C plus equality" project used for rather trolling critique of contemporary "social justice" ideology.