Welcome back!

Although there are no servers officially designated for role-playing, the community has effectively made Balmung (US Legacy) and Gilgamesh (US 'new') servers as the de facto RP servers for the game. And they are very friendly too. I'm not sure about how they do end-game though as my alts on Balmung are only low level, but I presume they'd be accommodating of casual players.