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If you prefer a framework instead of an engine and editor they do exist, MonoGame is a popular one. I wouldn't recommend it unless you're doing it more as a hobby (in which case it's totally valid to do whatever suits you best), using engines with their editors and scripting languages is the industry standard.
My go-to example for collecting a set of libs together to make a game is Evan Todd's lasercrabs AKA DECEIVER. Check out the external folder on github: Assimp, Bullet, Recast, SDL, wwise, etc.
There are engines that gives you less solution. Like Ogre and Open3d engine. These 2 are just the Behemots of the genre. Godot is pretty good too and is open source. If you like develop in C and code 3D you could help us with the version 4.0 and have an engine that works like you want https://github.com/godotengine/godot
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