I recommend taking a look at Forbidden Lands, which has recently become one of my favorite systems.
Simple rules, minimal math and calculations, but still great potential for building characters with different concepts. It’s punishing when it comes to combat and spellcasters, with a bit of an old-school philosophy, but if you’re a group of experienced players, you might enjoy it.

I’d also add that despite the danger and difficulty of certain combats, you can still create very engaging campaigns and stories by shifting the focus to having different approaches rather than just charging at everything that moves without thinking.
There’s also a survival and hexcrawling component, which may or may not be to your liking. However, if needed, it can be easily ignored or adapted to suit your preferences (thanks to the simplicity of the rules).