3.5 does use d20, but lacks advantage/disadvantage in favor of doing a lot more math every moment of every round of combat. This is the biggest appeal of 5e, it’s approachable and keeps the games moving.

I wouldn’t recommend 4e, it strongly suffers from the aforementioned “everyone can do everything and feels samey” much more than 5e.

Pathfinder 1e is basically just dnd 3.5, and as others have mentioned, PF2e is more of a middle ground