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I have some experience with python 3D projects, but I'm not a pro either, and I haven't made a serious project before. From what I know, Urisna engine is really good. With Ursina if you want a first person character for instance, you just define it in one line of code. Ursina is ridiculously easy and quick, and is notorious for it. You can check here for a whole list of demos. That said though, Urisna does struggle with loading too many things and it slowly becomes a pain if you want a large project. I actually made a minecraft clone using ursina but I couldn't continue it because if added more to it, the fps dropped quite significantly.
Writing a 3d game in pygame seem like an extreme task, but doable. For example I've found PySpace by CodeParade. It is not a full game, but it has a lot of potential. At the moment writing a 3d game in pygame is hard, but there might be support in the future based on this post about future api for 3D in SDL.