Nyxt[1] caters to emacs people (being extensible in Lisp and all that), but personally I'm somewhat wary of it: They handled a critical security vulnerability[2] quite badly a few years ago, and the project seems to get more and more commercialized.
Webmacs[3] used to be around for a while, but is pretty dead nowadays.
I know of various emacs users who use qutebrowser, and its keybindings/configurations are flexible enough to make that work. The docs have a couple of suggested configs[4].