I have done fantasy without magic and nonhumans. It was set closer to the Age of Reason than the Middle Ages and had some eastern influences (like unarmed martial arts), but it was definitely fantasy, set in a different solar system.
If you use low fantasy, you can include evolution. One idea I had but never play-tested was having elves, dwarves, etc. evolve as branches of humanity. The "magic" present in the campaign was based on psychic ability and was very limited in power. Killer Shrike kindly wrote up some racial package deals for me.
I posted these ideas here many years ago, but they may still be archived somewhere.