If all you need is normal and bump maps, then https://github.com/azagaya/laigter is pretty good for quick creation. (Free)

Spriteilluminator is not bad also https://www.codeandweb.com/spriteilluminator (Free for general use / viewing, but not save without money.)

Texturelab is also pretty decent for a node-based texture design software. (also Free) Only issue is it hasn't been update much, yet relatively feature complete. https://www.texturelab.io/

Most can guess the paralax, bump maps, ect...

Example using the above methods (took longer to upload than make)

32x32 pixel roses (found online) texture: https://i.imgur.com/uanHc0e.png

32x32 pixel rose normal map (took ~5 minutes, Laigter): https://i.imgur.com/QX0EygO.png

32x32 pixel roses rendered (Spriteilluminator): https://i.imgur.com/VYTcFuQ.png

32x32 pixel roses side-by-side: https://i.imgur.com/uKA2Su8.png