It is quite easy to do instead of MigrateExecutable class, we need to use MigrateBatchExecutable and instead of import we need to use batchImport

use Drupal\migrate_tools\MigrateExecutable;


$migration = \Drupal::service('plugin.manager.migration')->createInstance($migration_id);
if (!empty($migration)) {
        // here we can set additional options like limit, update or force the import.
        $options = [
          'limit' => 0,
          'update' => 1,
          'force' => 1,
        ];

        $executable = new MigrateBatchExecutable($migration, new MigrateMessage(), $options);
        $executable->batchImport();
}

The code bellow display how to execute the migration not through the command line, but through the code

First we need to load Migration. You can create it from a plugin, in this case the migration file is stored in migrations folder

use Drupal\migrate\MigrateMessage;
use Drupal\migrate_plus\Entity\Migration;
use Drupal\migrate_tools\MigrateExecutable;


// Load migration plugin.
$migration = \Drupal::service('plugin.manager.migration')->createInstance($migration_id);

or load it it from config entity

// Load migration from config entity.

$migration = \Drupal\migrate_plus\Entity\Migration::load($migration_id);

And then run the import

$executable = new MigrateExecutable($migration, new MigrateMessage());
$executable->import().

Sometimes we need to dynamically set URL for migrations, for example we have specific parameters restricting results.

We have default configuration

source:
  plugin: url
  data_fetcher_plugin: http
  data_parser_plugin: json
  urls:
    - 'http://your_domain/data.php'

// Get configuration factory.
$config_factory = \Drupal::configFactory();
// Load your migration configuration.
// Replace with your migration ID.
$migration_config = $config_factory->getEditable('migrate_plus.migration.[MIGRATION_ID]');
// Set your URL here.
$migration_config ->set('source.urls', ['YOUR_URL']);
$migration_config ->save();