I’m sure there’s other options, but Qlab can send program changes based on real time clock, and is widely used in the show industry.
You will need to run it with the A&H MIDI Control driver.
To answer your other question: Director, the dLive Surface, dLive MixPad and Custom Control all use our proprietary AH-Net protocol to communicate with the MixRack. However, program changes and many other parameters can be controlled via the public MIDI/TCP protocol available on our website.