I think the ones closest to normal are the Intermatic switches, which can use normal switches as 3-way remotes. But, they are discontinued switches. The ones on the market are surplus. That's not necessarily bad, just letting you know.
It does seem that every Z-Wave switch manufacturer's 3-way wiring is unique. But, they're still not complicated and they all come with instructions which most home owners and any electrician should be able to read and understand.
For still in production switches, the GE/Jasco are good and relatively inexpensive. You can get them at Amazon
and even at Lowes. The Evolve LSM15
remote as well as the Leviton VRS15-1LZ
remote are more expensive, but they support instant status, which is often desirable at some point or another.
You could also use normal switches but put micro switches like Aeon Labs and Fibaro inline.