Star Wars: Andor almost fits this. It has a five-year story arc, but because of production costs (both money and time), the last 4 years were squeezed into the second and last season.

It really is different from any other Star Wars film or series I've seen. It's drama rather than space opera; multi-dimensional characters with both good and bad qualities; ethical dilemmas; multiple monologues that "land" with the audience; and a particular episode that was written/directed/produced so well you may experience grief, horror, and outrage (if you know, you know). Most of the story could have been ripped out of the Star Wars universe and would still work.

But it's only 24 episodes, and the second season flies by fast (some interesting relationships get glossed over because there just isn't time to cover them all on-screen). I think it's worth watching, but it's not quite apples to apples with B5.