Aldo no Isekai Tensei

Story

A man who lost his family and fell into the depths of despair meets his end—only to be reborn in another world of swords and magic as Aldo, the heir of a noble family. He begins a new life alongside his twin brother Elphas and his loving parents. However, haunted by the fear of losing those he loves once again, Aldo starts to shut his heart off from his family. But when the roar of a ferocious magical beast threatens to devour them, the boy rises to his feet— determined this time to protect what he once lost in his previous life. A story of redemption and a second chance at heroism begins!

Synopsis via AniList (English).