The best replacement for rotary engine is piston.

The best alternatives to rotary engine are rated as following:
★★★★★  piston
★★★★★  piston engine
★★★  cylinder
★★★  normal engine
★★  radial engine
★  boxer engine
★  cylinder engine
  inline engine
  reciprocating engine
  combustion engine

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rotary engine
piston
piston engine