Is there a lightweight tool for web browsing automation from the terminal?

I'm aware of Selenium python library or headless chromium webdriver, but those solutions are heavy and clunky to interface from a shell session (bash, dash, etc.). Is there a minimal and lightweight tool so I can do browsing automation like getElementById or click on buttons or run JavaScript functions utilizing the tool's cli from terminal? Note that we could curl then awk, jq, grep but again, these tools are not specialized for hypertext markup and using regexp for pattern matching HTML parameters is not advised generally. Additionally a simple HTML parser can't extract into from a Single Page Application webapp.