Checking into eval modules that might be used, I found some DACS have a toggle setting option, that allow alternate between two DAC values under HW control.
eg EFM8BB3 / EFM8LB1 and EFM8BB52 do that.
Note however, that many small MCUs like this, lack crystals on the eval boards, so the precision is lower.
The RP2040 PiPIC0 also looks well suited here. I'm not sure how much register-access python gives, but code looks simple.
There are many low cost RP2040 module choices, and it has 125MHz PCLK, so can go as low as 125M/65535/(255+15/16) = 7.45Hz, and 100kHz is ~0.1% steps
RP2040 has 8 PWM pairs, so you can do 8 channels of PWM-DAC for HI/LO setpoints, using 4 pairs and have independent any-kHz outputs on 4 remaining channels.
Depending on how important below 7.45Hz is, you could nudge down the PCLK to get to 1Hz, or you could add a D-FF between two outputs and generate a 50% duty, low frequency-difference, that can go as low as 114 microHz (2.44 hours)
A simple daughter card would have opamps for LPF and DAC -> 20V swing amplify, and the optional FF for sub-1Hz