You could make your own tools.
All that you need to do is to make up one or more tool holders, to hold a piece of High Speed Steel toolbit of the desired diameter, at an angle of about 12 degrees from vertical.
You grind the end of the tool bit at an angle of about 20 degrees and install it in the holder so that the ground surface is at centre height, to give a rake angle of about 8 degrees.
You then gently plunge the tool into the work for half the diameter of the toolbit, and you have a semi circular groove ready for pipe bending..
GENTLY to minimise the risk of chatter, at low spindle speed.
HTH
Howard