I've found Midnight Commander (https://www.midnight-commander.org/) good if you just need the progress bar. In fact, you get not just one, but TWO - one for the individual file, and one for the transfer as a whole. Perhaps I'm easily pleased, but I find this useful.

(It doesn't do all the rsync fanciness, but if you don't need that and/or you've got some unwieldy subset of files to transfer - a situation the GUI-style approach makes light work of - then it comes in handy.)