I ran Jordan Feigenbaum's RPE program earlier this year. Basically you did an RPE8 or 9 single before your work sets. Your work sets increased in RPE but stayed constant in reps
So something like this (going off memory here)
Monday (Competition Squat day)
Squat) 1 @ RPE9, drop to 3x5 or 5x5 @ RPE8
Bench) pause bench 4 @ RPE7,8,9,9,9
RDL) 7 @ RPE6,7,8,8,8
Weds (Competition Bench)
Bench) 1 @ RPE9, 5x5 @ RPE8
Squat) pause squat 4@ RPE7,8,9,9,9
Press) 7@RPE6,7,8,8,8,8
Fri (Competition DL)
Deadlift) 1@ RPE9, 3x5 or 5x5 @ RPE8
Bench) Touch and go, 4x5 @ RPE8
Squat) front squat 7x4 @ RPE8
Incline DB or BP) 8 @ RPE6,7,8,8,8,8
That's probably too much lifting for the crossfitters you mentioned that don't like lifting though, so you may want to cut out some of the volume. For example instead of doing a set at 6, 7, and then 4 at 8 just do three sets at 8. Probably can cut out some of the variations too (one of the bench variations? pause squats? add in cleans somewhere?). I will echo the above that RPE is hard for beginners who haven't been tested on true grueling RPE10 lifts before (whether they hit or failed them), and that it's a lot of math involved and hard to adjust on the fly. I made a spreadsheet to calculate my lifts for the day based on my last lifting session before I got to the gym, but if I got there and felt the weight was too heavy or light, I had to wing it a bit.
ETA also how many reps in your schedule in the OP, just basically have them stop when they feel they've achieved that RPE? Like if the goal is RPE8, pick a weight and start cranking out reps until they feel they only have two more in the tank, then stop?