You shouldn't focus on the word endurance. It can be used to mean different things. Lately it's been appropriated by some to mean the bike is made to give you a more upright position. Some will be just as comfortable on a race fit bike, others won't be comfortable.

You just need to find out what is comfortable for you. If you don't want a aggressive and more aero fit, then look for bikes with a higher frame stack so there will be less drop from the saddle height to the bar height.

If you want the bars to be higher than the saddle, then don't be looking at road bikes. There are other types of bikes with bars higher than the saddle that are also made to ride on the road.

If you think you want to do multi day rides and will have to haul everything with you on your bike, then look for a touring bike as that will be made for the additional panniers and stuff you might want on travels of many days.

If you are going to ride on gravel, then a gravel bike will be better tailored to that. But it might not have the stuff to mount panniers.

If most of your riding is going to be less than 2 hour rides locally, then I wouldn't recommend buying for the rides you are only going to do once in a great while.