WhyCantWeBeFriends?

Yes. A lot of the VN's h-content can be very abrupt. This is exceptionally bad in key VN's (Kanon, Air)  works, where they can be talking about furniture, and then randomly compare the spilt water on the floor to the beauty of a girl, and then have random sex. It actually kills the mood. Thankfully, most Key releases, nowadays are without H.
The first and only censoring I am grateful for.
Majikoi's h has a lot more buildup and is better than most as far as h goes. The protag has a certain fetish however.
In grisaia some of the h is actually relevant to the plot. 
Overall I liked grisaia more, but that's mostly because I'm a sucker for that kind of plot. I like deep psychological issues, and the writing is really good.
Majikoi undoubtedly has the better world though. And the slice of lifey interactions, and friendship based themes are also far stronger here, They are both unbelievably excellent VN's, so check out both of them. The order doesn't really matter.
Personally I thought, Persona 3 had the best story. (Minato ftw). If you haven't played it but liked the other two I strongly recommend you check it out.

Thank you all very much for your time and effort, i really appriciate this!
@Nandemonai i played persona 4 and 5 and loved them didnt come to my mind that they could be VNs though. I have Steins:gate for ps3 lyring around somewhere... maybe thats a good start for a more exciting VN.
@Akshay Thank you very much. You put very much effort and thought into your post I dont really mind the H scenes, from time to time it seems "weird" to me that a lot of VN seem to be pure and then have H scenes, but who am i to judge. i can still skip them if i dont like. So many people here recommended Majokoi, but Grisaia sounds REALLY interesting, too. I think ill choose between these two for now thanks again <3
 

Steins;Gate is pretty much exactly what you said you wanted: great characters that you'll really get to know over the course of the game.
H-scenes are a thing, though.  Of the VNs that I listed, Steins;Gate is all-ages (I mean, it's on Playstation).  Tokyo Babel is also all-ages.  All the others, except 3, are h-games, but also have a non-H version available.
Koihime Musou is a huge game, so even though H is a pretty small part of it overall, there's still a lot of it.  Kindred Spirits is so tame that it could be put on Steam 100% as-is with no censorship, but it's technically adult.  And Demonbane is really low on H as well.  Those are the 3 I mentioned that don't have a non-H version.  I have no idea if that matters to you or not.

I would also recommend Little Busters! Some other Key titles such as Clannad and Rewrite might also work, though do note that all of these might reportedly make you a little bit sad at some points.

All recommendations are in bold~
You have only read two vn's both which are not very traditional nor long. And neither have h-content.
Since you liked phoenix wright with its game play elements, fast pacing, and you want somewhat good development, try anything made by spike chuunisoft
i.e. Danganronpa, 999 (These are NOT heartwarming, nor do they combat loneliness, but as someone who enjoyed the phoenix wright series, this is something that you will probably enjoy.)
You liked doki doki, which was pretty unique among VN's
If you want some heart warming sweet stories (that are also reasonably short), go for nekopara, and corona blossom (both which can be played without h-content)
If you don't mind the h-content, and a VN quite a bit longer (easily 50+ hrs if you are just starting out) you must definitely try the above mentioned Majikoi (some of the best world building, immersive experiences). If you don't mind psychological problems, (though far far more developed than doki doki, try Grisaia (No matter the situation, I cannot recommend the non-h version)
If you want something more casual (slice of life/mostly happy),other than majikoi you could also check out Princess Evangelion (its not great to be honest though). If you don't mind a steam-punk type world, check out liar-soft titles like Gahkthun of the golden lightning (it is Dark, but there are several really nice moments. One of my favorite couples is from here)
Overdrive games try to blend a good amount of comedy and characters. Kirari's cuteness will take your loneliness away!
Try Kirakira or Deardrops. Dengeki Stryker is awesome as well.
If you are new to VN's, try to start with the smaller, more casual ones at first. When you are more comfortable with them as a whole move on to the bigger ones.
While you may be unnerved by the h-content in these VN's. (Assuming you didn't find VN's from ecchi anime/hentai). You will find that a lot of these are unbelievably good stories, so give them a chance regardless.

katawa shoujo. its about a young man sent away to a new school after months of feeling completely alone and discovers love and friends in the new environment. the art is nice, the writing is great and so is the music. the music is very soothing to the ears.

Agree with Majikoi.
Maybe Da Capo III could also fit, taking:
Although you may not understand part of the story (which is very good regardless) without reading Da Capo I and II beforehand.

I also second Majikoi, it sounds like a perfect fit for what you're looking for.

Let's see.  You want a strong cast of likeable characters?  And genre doesn't matter? In no particular order, there is Chrono Clock, Kindred Spirits, Steins;Gate (and the sequel S;G 0), Persona 3-4, Demonbane, Koihime Musou, Littlewitch Romanesque, Tokyo Babel, Princess Evangile (Konomi and Ruriko by themselves ought to work out well, some of the others are kind of bland), Chou Dengeki Stryker, and A Kiss For The Petals New Gen.
Oh, and if you like RPGs, then you should also check out Recettear and the Trails series (Trails in the Sky / Trails of Cold Steel - 1st 3, and 1st game of 3rd arc, are on Steam).

Seconding this

Read Majikoi. The friendship dynamic there is really great and heartwarming