Is there a disassembler for ELF (preferably ARM) that allows you to save changes (preferably under Windows)?

Question

Android

IDA Pro, apparently, for ELF (not EXE) only allows you to view the code on asma, but not save it back in any way (this is strange, it’s not so difficult to screw such a feature, but oh well)
Unless you make changes directly to HEX, and IDA makes this process a little easier, but it's still very difficult to manually read: terrible readability (and "writing"), + sections, of course, have a fixed length and you have to respect it. Other ELF
disassemblers - to hell with it (first impression, but I think it's also the last)
sometimes could represent instructions in the form of asma, and not machine code.
But maybe you shouldn't reinvent the wheel?