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or go for Simsettlements+Rise of the commonwealth.
those 2 mods has the settlement build themselves over time and are pretty much essential if you dislike the settlement system that bethesda provided.
That said, it's basically just what you asked for; If you are willing to do basic zoning just Sim Settlements and Industrial Revolution (and whatever other addons you feel like) will suit fine - you just place plots and the settlers will choose from your installed addons for various homes/farms/businesses etc.
RotCW adds to that with preconfigured city plans for most setttlements (Like six it doesn't, of which I remember Covenant, Starlight Drive in, Vault 88, and the Mechanist lair), but requires you have a companion available to act as mayor for awhile so for awhile you can only do that with two or three settlements at a time. Either way tends to come out pretty awesome.
Otherwise, here's your castle fix mod:
https://www.nexusmods.com/fallout4/mods/18927/
So if you wanna be a bit more hands on, Transfer Settlement is the way to go. If you wanna just let the settlements handle themselves after a tiny bit of prep work, go with Sim Settlements and Rise of the Commonwealth.
also what they build is pretty incredible, the guy who created it is very good at it.
Sim Settlements has a lot of growing pains. I was the one to mention it, but I also want to underline the post this one.
SS still has few issues. If you want stable builds, then use Transfer Settlements.