This project offers a template for creating a Ghidra extension with Kotlin and IntelliJ, which seems to be what you are looking for.
More generally, you should be able to create an extension using any language you wish as long as it ultimately compiles to Java bytecode. If you build/download an extension and unzip it you'll see that they are primarily composed of JAR files that are loaded by Ghidra, so any system that can compile to JAR files should work as long as you inherit from the appropriate plugin classes and meet whatever other criteria traditional Java plugins for Ghidra do. Both Clojure and Groovy should be possible, for example, if you spent the time to get classpaths, build settings, and probably other things working.