Do you have some game in mind ? caus an engine for some people is only a way to make some game.
So what style of game do you want ot make ?

Don't you think you can skip some features (like dynamic avoidance) with a different game design ?
(use some ray collision detection to see if there is some dynamic stuff, put dynamic obstacles only on some open parts of the level etc ... )

Even with Esenthel, UDK or other, if you don't have a good game idea and some talented 3D artist with you that can ake next gen stuff, it's useless to ask for big 3D features.

I don't like UDK caus of royalties if you sell well a game.
And for me it is not a real indie game engine also lol
More a commercial 3D engine !