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SFML isn't bad. But I had a lot of issues with it. If you want a super lightweight engine with basically only a minimal amount of functions and can get stuff drawn on the screen fast then I'd say Pixel Game Engine. Just a single .h file and you are good to go. There are extensions for it for more functions like game pad support. C++ only and it doesn't hold your hand or get in the way. https://github.com/OneLoneCoder/olcPixelGameEngine
Godot maybe? You can script in C++ (sort of UE style) OR just code in actual C++, recompile it, mod it, rip some parts (3D parts probably for your case), etc. etc. https://github.com/godotengine/godot
Maybe raylib? https://www.raylib.com/