I use Hammerspoon for this and it's super configurable via Lua--open some URLs with Chrome profile 1, some with profile 2, some in incognito, open normal Spotify links with the Spotify app, normal Zoom links with Zoom (skip opening a tab that then opens the zoom:// link), etc.
For Google Drive links I open a picker that lets me choose from two chrome profiles and incognito.
Here's a cleaned up version of my config... I also mapped global cmd-shift-1/2/i to focus my profile and incognito windows (and create a window if none already existed):
For Google Drive links I open a picker that lets me choose from two chrome profiles and incognito.