>> I would prefer to develop a story together. A system where you don’t need a exact map with squares/hexagons to make decisions, for example. Where story and character decisions on what to do matter more than tactical decisions in combats.

You're probably looking for something like the old Call of Cthulhu by Chaosium:

https://en.wikipedia.org/wiki/Call_of_Cthulhu_(role-playing_...

I see from the wikipedia article that the last edition was in 2014, so it's still going. There used to be a d20 version, also, for those people who don't know how to read two d10 side-by-side ;)

You might also want to check out the user forums at rpg.net:

https://forum.rpg.net/index.php

You can find threads for all sorts of games, more or less popular. You're bound to find something that you will like.