If you are False Start compatible (allow modern ECDHE, etcetera and speak HTTP/2, don't use crappy middleboxes from Cisco, Palo Alto) you get 1RTT with TLS 1.2. If you do TLS 1.3 you always get 1RTT.
You can't avoid the one round trip on first connections, you pay that in QUIC too.
There's 0RTT but once the connection setup cost is amortized by preconnects and multiplexing being 0 or 1 RTT is not that important to justify its engineering ugliness.
You can't avoid the one round trip on first connections, you pay that in QUIC too.