The terminal-only path: full Xcode + xcrun, no GUI projects required
You don't need to open Xcode. You don't need to learn the Swift Package Manager. You don't need a .xcodeproj. For compute-only Metal development, four shell commands and a Swift host file are enough.
The catch: 'Command Line Tools for Xcode' alone is not sufficient — it omits the metal compiler binary. You need full Xcode from the App Store. After installing, point macOS at Xcode's developer dir so xcrun finds the Metal toolchain.