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I'm not aware of other alternatives, but then again I simply got Substance on Steam, it's not that bad if you get it during a sale.
Either way, ArmorPaint IS free, but you have to compile each new build yourself. However, if that's too intimidating for you, just head over to Gumroad where you can buy it already compiled for under $20 USD. Subsequent compiled builds will be available for free from your Gumroad account after that.
ArmorPaint isn't bad. It's not even close to being a 1:1 Substance Painter replacement because it's still so very rough, but there are enough features available there for you to get some decent PBR painting going.
The biggest thing holding it back atm is a lack of a robust pre-built brush library. You can roll your own by importing alphas and building node trees for each one, but that takes time. However, if you're so inclined, you can certainly emulate all manner of brushes.
Particle effects to simulate weathering are placeholder rough too and not worth your time, unless you want to simulate a bit of water trickle down a wall.
MaterialMaker is another free PBR painting option. Definitely good for the $0 price, but also rough around the edges being FOSS and whatnot. On the plus side, its node-based material creation is a fair share more advanced than ArmorPaint's and you can create some pretty rich looking procedural materials. MaterialMaker leans a bit more to the Substance Designer end of the spectrum.
As I said, neither one are 1:1 replacements for Substance's tools, but they can serve you pretty well if you can't or don't want to spend any extra cash.
If, however, you're a Blender user and your main issue is not wanting to leave the core experience then there's always the BPainter addon. It's about $40 and integrates with Blender, providing it with a layer-based 3D paint system, PBR, and a bunch of brushes. It gets updated often enough and is currently compatible with the most recent Blender v3.0. You can pick it up over on BlenderMarket.
https://armorpaint.org/
https://rodzilla.itch.io/material-maker
https://blendermarket.com/products/bpainter
(I'd link directly to Gumroad's ArmorPaint page, but Steam removes it. Just head to gumroad and search it out..)
Hey, I didn't write that. :P