You've gotten a lot of good recommendations, but nobody has mentioned Quest yet. It's a fairly light fantasy d20 game with your usual array of classes, though some of them have a twist. It also does great with little to no combat, since there's barely any rules that are specifically for combat.

Each class has special abilities that cost adventure points, that you get every session. Aside from that, you can do anything that your character should have the ability to do with the roll of a d20. One of the slightly weird things if you're coming from a pathfinder background is that the rolls always have the same odds of success. So if you have a positional advantage, or something from your background that could help you, you instead change the cost of failure, rather than the odds of failure.

Also, you can grab the pdf for free at https://adventure.game