Outside of a couple specific examples focusing on more sexual elements, Yuri in my years of personal experience doesn't have a lot of fanservice along the lines of panty shots, or even excessively huge boobs. Though definitions of fanservice can vary, and what qualifies as Yuri. There's a lot of casual and grounded day to day life Yuri manga out there. For some years with manga we've had a solid split between adult stories and coming of age stories. Some of those coming of age romances are also genuinely excellent in my opinion, and I'd recommend some of those as well if you were ever curious, but if they're not your thing at all that's also fair.
Anyhow though with adult centered stories, on the strictly non-sexual side of things there's this story with the Aro/Ace tag, https://dynasty-scans.com/series/crescent_moon_and_doughnuts - That's by the same author as "Trying Out Marriage With My Female Friend" that Rainbow8 recommended.
Moving forward, you mentioned Ayaka is in love with Hiroko and Dynasty has other works by that author, https://dynasty-scans.com/authors/sal_jiang - But be warned, some of her works can be a lot more intense and messed up, "Black & White" is very violent and abusive, be sure to look at all of the tags on that work and each chapter.
Adult Life is a tag I'd recommend like Rainbow8, and repeating myself a bit make sure you look at all the tags on a work, including chapter specific tags, while the tagging isn't perfect that should help you find works you're comfortable with, and avoid ones you aren't so comfortable with. Also be sure to check the 3 different tabs when you click a tag like Adult Life, those being "chapters", "groupings", and "one shots". Groupings will show you longer series with their covers that are completed and ongoing, also anthologies of short stories, that can be an easy way to browse. "One Shots" can be good if you don't mind short stories, and browsing through them individually.
Also here's two series that "Adult Life" isn't tagged with, but centers around adults are these two: 1: https://dynasty-scans.com/series/my_dear_lass - That's a Chinese comic, it has gorgeous full color art, one of the characters is 19 if I remember correctly, the other is in her 20s, in my opinion the age gap between them is handled respectfully, but if you're not comfortable with that I understand. 2: https://dynasty-scans.com/series/i_dont_know_which_one_is_love is a manga about college life, where a woman looking for love encounters different women that are attracted to her for a different reason generally based off a sense. That's more on the rom-com end.
