I don’t know about WH40K, but Games Workshop did have Warhammer Fantasy Roleplay. I liked the world of Warhammer, but never really got into miniatures. My fave games at the time were Twilight:2000 and Traveller, and the closest I got to miniatures was playing Car Wars.
Nowadays I just use GURPS, and dial back the crunchiness to Bang!-level skills when tackling a cinematic setting. And WH40K is a very cinematic setting.
