This type of workflow is natively supported by https://github.com/facebook/sapling, https://github.com/jiju-git and https://github.com/arxanas/git-branchless. Both these tools can interact with normal git repositories.

The idea is to divide commits between public commits that are untouchable and under-dev-commits that can be amended, split, merged, reorderdered, and so on. One can play freely with under-dev-commits, because every modification done on them is locally registered, and one can navigate in a tree of undo.