Alas RethinkDB was supposed to do this but the project imploded. It’s been OSSed I think though.
The dev experience and API were great. It was the "relational mongodb".
Though no one feels daring enough to part from PSQL as a backend these days. With all the cloud deployment options and optimizations in PSQL, it's hard to justify writing your own db engine, but for a great real-time experience, that's what needs to happen.