Yes, there are but there are many to choose from which is something you would have to decide for yourself.
One framework is better suited than another based on (your (game)) requirements.
Back in my day there was only one solution (or actually 2). a) use SDL or b) write your own graphics engine.
These days there is much to choose from. I am pretty impressed by raylib but that is because I haven't used any oldschool coding for quite some while now. SDL3 looks promising as well (is still a work in progress just seem to have had their first release).
Both can be used from FPC command-line, I honestly dunno about the others that are listed. Even BGRABitmap is capable of running with NoGUI (but that is focused on graphics only).
I would recommend to get yourself at least a little familiar with some of the mentioned engines, look at their website/examples and in case there is anything that peeks your interest investigate if it has everything on-board that you would like to use for your development (think audio, video playback, support for controllers, graphical GUI, support for GL etc). In case not sure ask questions if framework x supports feature y in case you really need it.
Use at least an engine/library that has good support and many examples that you are able to learn from.
PS: in case a library/engine is pro dominantly c then don't let yourself be put off by that, it is usually a 1:1 translation only the language differs (SDL and raylib are both a good example of that).