Honestly (and I'm assuming you live in the US, and that things work pretty much the same everywhere) it's a lot less complicated than you think it is and the agent does a lot less than you think they might. At both of my closings (buying and selling) with an agent, their only real concern was getting their commission check.

You can get a boilerplate "offer to purchase" contract online. You make an offer, and make it contingent on an inspection and an approval of financing (even if you're preapproved, it's good to have this in there just in case something doesn't work out, e.g. a significant problem with the appraised value).

Assuming you are taking out a mortgage, the lender will make sure everything is legal (they don't want to lose their collateral) and it's all very standardized anyway. If you are still nervous, hire a real-estate attorney to help with the offer and closing. That will still likely be far cheaper than paying a commission to an agent.