mork borg bills itself as light on rules, heavy on everything else, I wouldn't recommend it for what you're thinking of but it's a great game that's always worth checking out.
swords of the serpentine is a gumshoe system built from the ground up for sword and sorcery. definitely worth checking out.
If you want something in the vein of Robert Howard and Michael moorcock, barbarians of lemuria takes heavy inspo from both
I'm a big fan of dcc from a design perspective, it feels like that rough around the edges hack of dnd each table settles on, but I'd still a very well, very carefully designed game.