I think Bernstein (especially) and Sondheim looked to antecedents like the Quartet from Rigoletto, the Septet from Figaro and the Quintet from Meistersinger. These are all very accessible and worth a listen.
In my experience, Al Carmines came closes to these, in intent and execution, in his Act I finale to "The Journey of Snow White" which I pray is revived again some day.
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