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This may be perfect for you! https://github.com/ssloy/tinyrenderer It's the TinyRenderer series. You actually develop a rasterizer and you go through the various algorithms to develop how Graphics API actually work.
You might need to update your drivers. I haven't seen a single GPU newer than 2005 that did not support OpenGL 3.3, which is more than enough for the first steps. learnopengl.com has great tutorials and AFAIK they use OpenGL 3.3 for all chapters except GPU computing, so you should be pretty good to go.
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