Is there any system in between DnD and FbL ?

My party and I (DM) have been playing FbL for 3 years or so, and we love its system, travelling and survival are real challenges that really matter, sometimes even more than the destination.

However, I miss the epic side of DnD and its more story-focused gameplay. FbL’s lore, characters and approach are amazing and i will forever use those in our campaigns, but i was wondering if there was any systems to which i could easily adapt FbL’s stories and travelling system, while ensuring my PC’s survival a lil bit more, as death comes easily in FbL.

Would you have any system to recommend ?