I just tested it out of curiosity and found that viewport manipulation behaves in a very similar way to onshape which feels very natural to me.

I've been thinking about trying to implement this in freecad but I'm still exploring the idea.

There are more than dozen different viewport navigation manipulation modes, latest version added two more (Solidworks and Siemens NX). You can pick whichever behaves closest to the program you are most used to.