Modern? Both vi and emacs are "still maintained" and are both keyboard driven interfaces that huge numbers of individuals consider good. You can try out both on most Linux distributions.

Other examples from Linux/Unix systems are the Joe editor, which ships with configuration files to emulate several other keyboard driven editors. Also the "less" file viewer, as well as the "mutt" email client and the "tin" usenet news reader. All are also "still maintained".

For less modern, WordStar and Visicalc and Lotus123 all had fully keyboard driven interfaces. Lotus123 added menus and such in later incarnations but retained the keyboard driven interface. And in all of these cases they keyboard interface was not "the keyboard simply drives the GUIs menus and windows" but true keyboard driven without menus. How you could try any of them out today would likely involve a VM (i.e, VirtualBox), loading an old copy of Dos, and finding an old copy of one of them to install in the VM.