I'm a big fan of Tomorrow Never Dies, definitely like it more than Golden-Eye. Surprised it doesn't get more respect, it's by far the best Brosnan bond in my opinion.
However, if you want to talk most realistic bond films, by far the most grounded in the series, and my personal favorite, is From Russia With Love. It manages to be a super grounded straight-ahead spy thriller, while still setting up most of the tropes that we still associate with the series today. The gadgets bond gets are actually believable and practical (a suitcase with sniper rifle), the villain is great, the story is small-scale and intimate (stealing a Lecter encoding machine), but there's still some cool bond action as the story wraps up. I actually think Goldfinger is pretty over-rated. It's iconic as hell and helped cement the series tropes that From Russia With Love introduced, but there's also tons of wacky ridiculous shit, some pretty slow sections, and a pretty weak final act in my opinion. I think From Russia With Love and Thunderball are both much better.
Casino Royale is a close 2nd for me, for having the balls to re-invent the series while also having some of the best action film-making of the last decade (steady cameras, clean cuts across action, elaborate practical stunts, extended action sequences that have a chance to build momentum and escalate throughout). Hollywood Saloon have a pretty excellent extended breakdown of why it's amazing in the context of the series (http://www.hollywoodsaloon.com/podcastEP28-3.html)
Sidenote: A bunch of bond blu-rays are on sale today as part of the 50 year anniversary, worth picking up