Looks like jEdit just had a new release! I actually used it as my main editor 15 years ago before I sat down to learn Emacs. I thought it was pretty good back then.
Lapce is a newer one that looks interesting, though I haven’t tried it. The page says modal editing can be toggled.
Helix also, but aren’t
Zedand Helix both modal?edit: Huh. I just tried out Zed and looks like modal editing is optional.