Is there documentation (gasp!) or a How-To on writing KiCad footprint wizards in Python? I’m specifically looking for information on v5’s support of custom pad shapes, but I’ll take what I can get.
Have you looked at @maui 's STEPUP for use with custom footprints? It integrates with FreeCad. Under the category of ‘take what you can get’. 
If you look at the plugins you will find some help though it isn’t direct documentation. The FAQ link above will get you to these. I think KiCommand(?) lets you do similar? Hmm… KiCommand doesn’t seem to be on this list.
See pcbnew/python/plugins/FootprintWizardBase.py in the kicad source tree.
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