Fantasy anime where there's some sort of mysterious dungeon/abyss/etc. to explore and get loot from?

Like Made in Abyss where there's the abyss or Magi where there's the towers that mysteriously popped up. Preferably with some characters (doesn't have to be main characters) that are legendary badass explorers, like Sinbad or Ouzen and Bondrewd.

I guess some typical "going on quests for guilds" type anime would work too. I just want a good, somewhat lighthearted, fun, fantasy anime with good fight scenes and maybe some ecchi.