 If you liked
Drifters
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 ...then you might like
Gate: Jieitai Kanochi nite, Kaku Tatakaeri
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Both mangas have people of other time periods entering a medieval fantasy world and warfare. Drifters has historical figures fighting amongst each other while recruiting the local population, Gate has the JSDF fighting dragons and local armies and experiencing culture differences.
Drifters is darker and bloodier, while Gate is a bit more comedic.
GATE and Drifters has many unorthodox themes that are incorporated as part of their story. For instance, both series involves parallel worlds but combines elements from various time periods. There is fantasy that are also present in both series. And as the story progresses, we learn much more about the characters the MC encounters. Speaking of which, the main main protagonist also have strategic minds and often takes risks during their adventures. Gate is also infamous for its more graphic content and mature themes.