QNX always had practically oriented limitations of the general microkernel idea (eg. QNX native IPC/RPC is always synchronous) which allowed it to be essentially the only reasonably performant true micro kernel OS in the 90's. Unfortunately it seems that after QNX got repeatably bought by various entities the OS got various weird compatibility-with-who-knows-what hacks.
I don't have much experience with them but I think VxWorks and QNX are good examples of simpler OSs. I do have some experience with Minix3 and it is certainly one. I guess the BSDs stand somewhere in the middle.