What about https://en.wikipedia.org/wiki/Honey_Heist ? It's not DnD, but the rules are ridiculously simple: you're a bear and if you want to do bear stuff, you roll in your "bear" skill. If not, you roll for "not bear" (i.e. criminal). It's so dumb it hurts, but it works for all ages and I had a blast trying this with some friends.
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