Baldur's Gate(1), as I recall, does have turns, it is just structured by default that there is no pause at the start of each character's turn. I'm fairly sure there was an option to do so because I remember setting it on.
It also had a strict round order, each character only took an action then passed to the next, with no two characters moving at the same time.
BG1 and 2, as well as several other Bioware games such as KotOR, have rounds as you described but all characters in combat take their actions concurrently within the round. It's not like BG3/D:OS etc where only 1 character's actions are taken at a time.
It also had a strict round order, each character only took an action then passed to the next, with no two characters moving at the same time.