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Use this thing https://gdevelop-app.com/
Undertale was make with Game Maker which works for those genres. Although the genres are so simple almost any 2D engine would work. Godot is a free and open source alternative to Game Maker. It's more than capable of creating what you are describing as well. It's definitely the easiest to use game engine that's also free software. I'd personally recommend Godot since you don't need a lot.
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