There is the Google Pixel. But it has limited updates and proprietary software for things like the camera. That camera is really nice though and it's as close as the Android experience Google intended to ship because this basically is Google's version of Android. I have the Pixel 6 and it's fine.
Nokia stays close to that but ships their own camera app. It too has limited updates that run out after a few years. Other than the camera software, it's basically "stock android". I'm not sure there even is a stock version for the camera at this point. There are plenty of alternative camera apps though. I always had a weak spot for open camera, which is nice. My previous phone was a Nokia 7 plus. The camera was not great but otherwise a fine phone.
The fairphone is probably the closest to what you want. But you are buying older hardware and at a premium. And fairphone OS is based on an older version of Android and also limited in time for updates. The updates run out at some point though they are pretty good at keeping the security patches going. Repairability is great though.
In short, long term support is hard to get. No-one seems to be willing/capable of doing that. At best you have phones that become unsupported at some point but at least allow you to install alternative firmware (without any promises or support).