This was harder to answer than I thought, pushing up to 20 eliminates a lot of contenders I think. I would say maybe Vinland Saga? The main character starts as a child, but it also covers a large time span so he hits twenty partway through the second season. Major recurring characters are almost all adults throughout. Its a semi-historical anime set mostly in England and Denmark during a war between the two. It’s a show that deals heavily with violence and trauma, has some very complex characters, and I can’t recommend it strongly enough
I’m so excited for more of this to be adapted. This series is so incredible