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You might give rbfx a try. It's a fork of Urho3D which is also good, though aging. While they do verge into engine territory, they're not editor-based as Unity and Godot are, and in fact the editors for each are quite rudimentary and unfinished. For a programming-centric workflow, they're pretty nice.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.