Fiction Books like HBO's Rome

I've recently begun watching HBO's Rome and am really enjoying the characters of Lucius Vorneus and Titus Pollo.

I'm wondering if there are any books series in a similar vain. I enjoy the Sharpe series by Bernard Cornwell and would love to read a Roman equivalent.

I'm not overly interested in reading books that center around actual historical figures as main characters.

I know what im asking is super niche so thank you for any recommendations I really appreciate it!