My own findings are in line with this research:

Having a coding harness is critical but the differences between them are overstated.

Personally, I’ve replaced OpenCode with a thin wrapper around Pydantic-AI as the pythonic analogue to Pi-Agent for headless use via Hermes

They’d all do the job - I just prefer to compartmentalize for access control.

Keeping the harness’ surface area tiny had the added benefit of preserving my understanding and being able to adapt it to my preferred workflow effortlessly