Nicely explained!
I've said it before, and I still think it's true, that the game that would suit you best is HârnMaster. You don't need to invest in anything - take a look
here and sample some of the free downloads. In particular the "Friends, Foes and Followers" series (a collection of NPCs for a "realistic" medieval setting, light on system and heavy on fluff) and the "Anya's Vale" site are worth a look - although there's absolutely tons there if you get "bitten by the bug". There's also a very friendly forum attached where you can ask questions and find answers to all manner of queries.