When I start coding in Esenthel, Leadwerks, Neoaxis, DX-studio Sauerbraten....I had to hunting numbers through matrices for rotate something.

No not all engines go throught matrices.
Take some engines using script : Unity ,LeadWerks, Shiva 3D, Axiom and others have simple rotation functions to call.
Before saying things , you should try the engines or at least read their docs.
Even 3D artists make games with Unity, so i don't think they knwo something about matrices rotations ?

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Yes 3DGS is easy, it's a strenght, but other 3D engines have also same easyness if you are motivated to learn them.