SCSI2Pi also works fine with MagiCMac and macOS. With the SCSI Driver for MagiCMac HDDRIVER and HDDRUTIL can directly access emulated SCSI devices, just like under TOS. With the SCSI-to-USB bridge of SCSI2Pi you can even use USB drives (e.g. USB sticks) with the Mac, with both MagiCMac and macOS.
The SCSI2Pi client tools also work with MagiCMac.