"S" or 1/64 is sort of close, but expensive and not necessarily easy to find. "O" or 1/48 works, is more available, but it is big.
"On30" - or narrow gauge, is the best of available options - you get the "O" scale but it's set on narrower track (HO track). The HO (1/87) track is much more comparable to real world size, and is very cheap and available by comparison to other scales. The "gauge" will refer to the distance between the rails (though people will often loosely refer to gauge and scale as the same thing). There are a number of narrow gauges (On3 would be 36in between the rails, etc), but in sum the idea is that regular O gauge will look like 7 or 8 feet between the tracks and it's really out of scale.
Another option is using actual 28mm or 1/56. These options are not functional trains however. "Sarissa Precision Limited' makes a lot of laser cut terrain, but also 28mm scale train stuff. "Company B" also produces trains at 1/56 in resin and pewter. "Die Waffenkammer" makes a resin locomotive in 1/56.
Whatever you do don't use 1/35. It's way off.
But, as others have said, lots of companies are not really true scale (Games Workshop and Warlord are typically 'heroic' scale, having oversized heads, hands, etc.). So, a company like Rubicon that is true to scale might look very different in comparison to Warlord games.
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