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raylib is a great way to get your feet wet: https://www.raylib.com
you'll need a 3d model format - use GLTF. Your other option is FBX (and maybe .OBJ to get started); FBX is the de facto standard, but GLTF is open source, much less complex, and doesn't rely on an overcomplicated semi-proprietary FBX sdk to just load and render geometry. Alternatively, just use assimp, which is probably a far easier / saner way to handle any and all asset loading and file formats, lol.
assuming that you have any intention of having whatever you build be even remotely crossplatform, you should absolutely make a point to learn and master cmake, if you haven't already, and you should definitely use / build off of glfw