Two tips:
(1) use RealThunder's Link Branch (https://github.com/realthunder/FreeCAD/releases). This fixes one of FreeCAD's fundamental problems.
(2) use the "Part Design" workbench. That's the one that is built around the SolidWorks workflow: sketches with constraints -> parts, etc. There are other workbenches for other workflows; you might need to hop over to them sometimes but you'll want Part Design for the most part.
FreeCAD still hasn't settled on "one correct way" to do assemblies of parts. There are various plugins that each offer their own take on how to do it. You'll have to pick the one that you like most.
You don't need to use Python. You can use spreadsheets, equation-driven dimensions, and so on, just like SolidWorks. You can make dimensioned drawings using the TechDraw workbench, which gets better all the time. (Also useful for making DXFs to export to a waterjet or laser cutter).
The documentation is sparse, so youtube demonstrations are the clearest way to learn. I like JokoEngineering's channel.