If you really liked the interactions between the characters, honestly I think The Murder of Sonic the Hedgehog did that better than any of the other games did. If that's the main appeal for you, you've already played the best one. I haven't read the comics myself, but like others have mentioned, that's probably what you're looking for.

Sonic Adventure 1 and 2 feature many of the same characters as The Murder of Sonic the Hedgehog, but the dialog isn't really as polished. It's an English translation of a Japanese game at a time when they were still trying to figure out how to do cutscenes in 3D Sonic games. But based on your criteria, I'd say those are a good starting point. They're both on Steam. (The first game is called Sonic Adventure DX because it has the "upgraded" graphics that many fans think is actually a downgrade in art style. There are mods to change things back to their original look. I think this SADX mod installer installs all of them for you.)

Sonic X Shadow Generations has many of the levels from Sonic Adventure 1 and 2, but lacks the same cutscenes and characters. The gameplay is great, though.

And if you liked the OST, then you'll definitely like the music in the 2D games, especially Sonic the Hedgehog 2, Sonic the Hedgehog 3 & Knuckles, and Sonic Mania.