[fooofw]

pdfjam [1] uses a LaTeX package under the hood, is included with the TeX Live distribution and acts as a wrapper for a LaTeX package. With this, I believe your example would be:

    pdfjam PDF_A.pdf '2-3' PDF_B.pdf '7-23' --outfile joined.pdf

I'll admit that I had to look it up but that only took about 3 minutes (it's an example in the readme).

[1] https://github.com/pdfjam/pdfjam