hope this makes sense lol. I havent seen a manga where they actually get to go back to earth after completing their goal.

No romance, harem, shotacon, lolicon, or smut pls thanks!

hi

Some complete ones would be: "dungeon seeker"(short) ,"12 kingdoms?" and I can't really recommend it but "Those who seek elves" fits the criteria. There are also lots of non isekai (since it's technically the same world) in which the protagonist dies "Yu Yu Hakusho","3x3 eyes" ,goes to the past "Inuyasha" or travel at will between the worlds, enter a book ,outer space+fantasy... most of them are old and sometimes aren't tagged as isekai .

If you like "Gate - Jietai Kare no Chi nite, Kaku Tatakeri " there's a bunch of similar ones but they tend to have ultra-nationalist themes,just as most recent isekais (Gate's manga is a toned down version of it's light novel ) "Nihonkoku Shoukan" is similar and less toned down nationalism. The copies of these are the ones to thank for the harems and many subpar isekais that appeared these decades (you can usualy identify them for their endless adulation of japanese food /having a similar country to feudal Japan in the isekai ,I recommend to stay clear from those ,they usualy have a good start and end up introduicing what you disliked).

If you're looking for a JRPGish I'd recommend you rather play one ( Kemco has many free ones, they're short and adds only appear if you activate the internet),there are a bunch of complete mangas based on games and the ones that aren't eventually have the things you don't want.

If you're looking for parody there's a bunch like "Isekai Ojisan" (comedy+echi) that start with the hero returning or "Hataraku Maou-Sama!" that's a bit more serious (comedy+reverse isekai + complete novel) or to darker ones with the typical edge lord MC that has lots of echi (I'm assuming you're not asking for these or for dense protagonists).

Most mangas that come from light novels eventually get the chance to go back, are returned at some point you might want to check out complete isekai novels and read their mangas .(Almost all and that's a spoiler in itself).

There's also a bunch of manhuas ,manwas and other media I could recommend. Are you interested in those?

a taste of love fushigi yuugi Nihon e Youkoso Elf-san

yes i am interested

hi

Most manhwas come from web novels and usually copy other Asian media. I'd recommend:

-Omniscient Reader’s Viewpoint (If you get over the weird social media system, it's great and I liked it's WN conclusion and it more or less has the protagonists going around the worlds of most WN)(the WN almost has no flaws up until they introduce Olympus)

-Solo levelling (typical dungeons + game system, if it's like the novel he can go back)

The only ones I'd be missing would be the non action ones (there's quite a variety there but I can't remember any) and the ones with an exponential progresión without game system/OP MC (they usually end up with the MCs becoming gods and killing all their enemies and a dialogue about morals) and scifi+magic(they usually change earth/start on a futuristic world so they can't go back to normal ). The "shoujo-ish" versions usually have a great start but end up being a disappointment /dragged out (just as most original manhwas).

There are almost no complete manhuas, since usually get axed unless they exalt Chinese ideals or are mainstream .Honorable complete mentions:
-Release that witch (If you like the first ark check out the novel, there is no harem there and it barely eluded the ban)
-Soul Land (before the island ark it's more or less bearable anfter that the author "Tang Jia San Shao" made more with the ban's aproval. I recomend you stay clear from them )

Some give you some ranting of why they usually go bad ,but given the topic I guess you know the flaws of most manga. If you want or know similar stuff of other genres you can PM me. I'll answer eventually and I'll try to be unbiased with the recommendations.

I you forgive the Harem "Mushoku Tensei" is quite different from most and well written (when I ran out of non echi manga I gave the novel a try. The harem starts when he's a teen and the sex scenes end at one point ).