Hello there! I know of two public roleplaying communities which use lore-friendly assets:
Code Six Roleplay
Discord: https://discord.gg/Ya2AfSa
Update, 15/05/21: Code Six has shut down.
San Andreas Republic
Discord: https://discord.gg/5kzFyFW
Server Bazaar: San Andreas Republic | High-Quality, Menu Based FiveM Roleplay | Highly Optimised | EUP Beta | Lore Friendly | Dynamically Whitelisted | vMenu & Scripthook (Menyoo/Lambda/Simple) | discord.sarrp.net
Apologies for the slow response and good luck to you and your friends with finding a lore friendly roleplaying community which suits you all!