Torchbearer. (I've heard of it Five Torches Deep, but that's it for that one.)I think stepping away from the D&D family might be a good idea here. Something like Ironsworn-Delve would fit your bill perfectly. I've never played it, but @pemerton has recommended Five Torches Deep many times. Although, as you say, that's OSR. But, there are games out there that are light and not mired in the 70's.
Burning Wheel is also great for low magic, if that's what someone wants.