Baldur's Gate and its sequel are pretty much your best bet. Yes, I'm sure these are the exact answers you didn't want, but Dragon Age Origins is pretty much the spiritual successor in terms of controlling a small group of characters in a pseudo real time environment, which is something that was basically monopolized by D&D titles of that era Sure, 2nd Edition AD&D isn't the most intuitive system in the world, but once you figure out that having low THAC0 and Armor Class are good things it all falls into place from there and really isn't much of a bother. Of course, Baldur's Gate 1 is also not the most newbie-friendly title out there, so theoretically you could start with BG2, though that game has a really terrible introductory dungeon that seems designed to scare the less dedicated away.
Of course, if you are cool with stories being the secondary focus, I also recommend Temple of Elemental Evil (ok, that's a lie. You need a fairly thorough knowledge of D&D 3.5 to get anywhere, but if @Video_Game_King can do it you probably could... with some motivation), Both Icewind Dale games (once again, D&D. Sorry 'bout that), or maybe the Might and Magic series, though those are first person and much different in terms of design. I still think they are totally rad, but that's just me.
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