I don't know if I would classify GURPS as "not cumbersome", personally.
GURPS. Hero also pretty much does it all, albeit with less detail. But GURPS Martial Arts includes mechanics for every bone-breaking, joint-twisting, pildedriving, unbalancing, footsweeping move you can think of.
I'm a huge grappling fan. I do it in real life.
Which is why it frustrates me when DMs ban me from using grappling characters either due to cumbersome rules or simply OP mechanics.
So, has there ever been an RPG which does grappling both quickly AND at least some what usefully. I don't want a rule system in which my only options are 'grapple and hit my opponent'.
I'd like to be able to break limbs, choke folks out either unconscious or to death. Ya know, the works. It doesn't need to have it all, but in a dream world it could.

(Dungeons & Dragons)
Rulebook featuring "high magic" options, including a host of new spells.