You can develop your own plugins for MAMBO, to modify the binary code according to your wishes. You can register functions for all events, pre or post event.
The code of the function does not depend on the processor type, MAMBO provides a high-level view of the intstructions. (But you can also use specific RISC-V instructions.)
Demo with vim running on RISC-V, under the control of MAMBO so we can patch vim binary to count the number of branches (zero assembly language required).