Yeah, that old west Texas warble (from when Fort Worth was still west Texas) is not for everybody. If you want to go with it for just one full session, do the Live at the Old Quarter album. Good sound, good point in his career, and enough patter and announcements that it feels like an organic experience, which it was, just a bit more curated than the final experience implies.
For Pancho and Lefty, there’s always Merle and Willie (with a TVZ cameo in the saloon), though I find Townes Van Zandt songs tend not to benefit from “luxurious” production. If you just want the same song, or indeed, a lot of TVZ songs, through a traditionally beautiful voice but one who knew Townes and his sensibilities, Emmylou Harris is always there.
A little poking around spotify/youtube/etc., you can usually find some decent cross-genre covers too, to the extent you consider the originals country at all.
Some other good TVZ songs, maybe more outside the Western milieu: