Nimbus Sans was designed to be a complete lookalike for Helvetica. I'm not sure how they got away with it, except that the IP laws protecting fonts are rather weak.
The GPL version was produced to be included with Ghostscript, which itself is GPL, so that wasn't an issue. I'd be very wary of using it with any other project.
Noto. It feels like having access to an entire professional foundry as a FOSS download.
Though the sans is humanist and not neo-grotesk like Helvetica.
Hell, Noto Sans is available in more weights than Helvetica Neue LT Pro. I've actually found myself wishing that Helvetica Neue LT Pro had a real demi instead of jumping from medium to bold. Noto solves that problem.