A lot of our shrubby Euphorbias, i.e. the Spurges, are blooming right now or coming into bloom soon enough. While not strictly succulents, they are very drought tolerant and can easily mix in a succulent garden.
Euphorbia characias ssp. wulfenii
And just for fun, here’s one blooming succulent spurge – so many Euphorbias are succulent, and this one is succulent: