I'm looking for a Samurai (or Feudal Japan in general) anime that isn't all about action, cool swordfights, legends, and supernatural entities.

Instead I want something a bit grittier, more down-to-earth and realistic, where the main driving force behind it all is a well-written story and an interesting cast of characters, that aren't just one-dimensional walking tropes, but are rather more like actual human beings, with flaws in their personalities and their own sense of morality. Bonus points for small-scale, more personal stories rather than complex political intrigues.

Does anything like that exist? If yes, then I'd gladly give it a go. Before you suggest, however, make sure your suggestion isn't an unfinished adaptation. It has to have a conclusive ending, be complete, and it shouldn't require any manga to be read to know the full story.

Thanks in advance.