Afterblend is a Blender addon from BOSSposes that moves After Effects motion track data into Blender. With the click of two buttons, you copy AE track data and paste it directly into your scene, then start animating inside your video.
Because it copies data rather than exporting, trial versions of After Effects work for the transfer. From there you can bring in characters in any format and begin animating, with render pipelines spanning XPS to MDL, FBX and more. The addon uses the Cycles and Eevee render engines, and it's built to be approachable with almost no experience needed.
Afterblend supports Blender 3.6 through 4.5 and is distributed under the GPL license. Documentation is included, and a demo video is available. It's listed as free here in the catalog; check the developer's page for the latest licensing details.