From what I understand, BRUTAL (the thing that KSA devs made) is not a typical game engine. It's very low level and more of a set of tools and libraries to make a game and its engine with, without completely reinventing the wheel. It doesn't restrict game devs in any way and aims to give them maximum freedom (e.g. it doesn't even have a concept of a "scene" that all engines like Unity or Unreal have). Obviously this also makes it very complicated to use compared to Unity, but makes it possible to custom-tailor it to any game and use case.
This is especially important for a game like KSA that doesn't fit into Unity's model at all, but I guess it also provides some benefits for RimWorld.