In Cinema 4D R23, integration with Pipelines has improved in the following ways:
Python has been updated to version 3.7.
OBJ and FBX import & export has been greatly improved
Finally, the first steps towards fully integrating the industry-standard exchange format, USD (Universal Scene Description) have been taken.
More details about R23 features can be found here:
R23 Quick Overview:
R23 Full Overview:
R23 Animation Overview: