Seconding GURPS! I feel like there's not enough emphasis on diverging from the printed rules. If you're not sure which target number to use, or exactly what modifier to apply to it, just pick one and go! It won't break!
"When in doubt, roll and shout!" shows up a few times in the core books, but they really need to emphasize that idea more - people don't seem to have picked up on it.
I jumped in earlier on a GURPS comment, but I also want to call out Ironsworn and its sequel Starforged. They're built from the ground up to run GM-guided or GM-less, and include a lot of the work traditionally done by the GM, divvied up among the players and handled as part of play. You fly up to a settlement, and roll for more details about what you find there as you explore and interact with the locals. It takes a bit of a switch in thinking about how you run a game, but it's also helped improve the more traditional GM-driven games I run!
It's low-crunch, but I've meshed it with GURPS in a way that I'm pretty happy with too, for when I want a little more detail about what's going on!