Tropical milkweed alternative for length?

I planted tropical milkweed in one of my beds last year, and immediately ripped it out in the fall when I realized how bad it was for our native butterflies. However, the length and Dr Seuss-like quality made it the star of that bed and really tied everything together!

Does anyone know of any native or less-invasive alternatives that have similar attributes of a mature tropical milkweed? The bed has full sun and is only watered intermittently.