Maybe you're looking for a permutation test. Here is a minimalist demonstration to get you started. (If interested, you may want to read more about permutation tests on this site and elsewhere.)
Data. Suppose you have four observations for each of Conditions 1 and 2, as follows:
x1 = c(100, 103, 110, 150)
x2 = c(140, 200, 205, 207)
x = c(x1, x2); g = c(1,1,1,1, 2,2,2,2)
stripchart(x~g, ylim=c(.5, 2.5), pch=19)

Condition 1 tends to give smaller values, but both sets of data have what might be considered to be outliers, and one feels 'squishy' assuming normality to do a Welch two-sample t test (which does not require equal population variances).
Welch t test. The Welch test finds a significant difference with P-value $0.0127 < 0.05,$ as in the R output below, but we don't know whether
to trust the result because assumptions might not be met.
t.test(x ~ g)
Welch Two Sample t-test
data: x by g
t = -3.645, df = 5.461, p-value = 0.0127
alternative hypothesis: true difference in means is not equal to 0
95 percent confidence interval:
-121.93616 -22.56384
sample estimates:
mean in group 1 mean in group 2
115.75 188.00
Two-sample Wilcoxon test. A two-sample Wilcoxon test would be significant if all Condition 1 values were below any Condition 2 values, but not with our data, for which the P-value
is $0.05714 > 0.05.$
wilcox.test(x ~ g)
Wilcoxon rank sum test
data: x by g
W = 1, p-value = 0.05714
alternative hypothesis: true location shift is not equal to 0
Permutation test. The Welch statistic $T$ (same as the pooled t statistic because the two sample sizes are equal) may be a reasonable quantitative way to express the difference between Condition 1 and 2 scores, even though the
distribution of $T$ is in doubt.
If the null hypothesis is true, so that Conditions 1 and 2 tend to give the same results, it should not matter if we assign four of the eight observed values to Condition 1 at random, and the remaining four to Condition 2. We
could find the Welch $T$ statistic for each of the ${8 \choose 4} = 70$
possible permuted assignments.
Then by brute force (perhaps aided a bit by combinatorics) we could find the value of $T$ for each of 70 possibilities,
and thus the 'permutation distribution' of $T.$ Then we could decide whether the observed value of $T$ for the proper arrangement of observed values is
sufficiently 'remarkable' to warrant rejection of the null hypothesis that
the two Conditions are equivalent.
In practice, there might be many more than 70 possible arrangements and
a complete combinatorial solution to the permutation distribution might be
difficult to find. However, we can make many random permutations, find $T$ for each and thus use simulation to approximate the permutation distribution.
For our data the simulated permutation test can be done in R as shown below.
For the seed (of the pseudorandom number generator) shown the P-value is approximately $0.03 < 0.05,$ so we can reject the null hypothesis. [Additional simulations with different seeds gave values 0.0282, 0.0300, 0.0279.]
set.seed(522)
t.obs = t.test(x ~ g)$stat
t = replicate(10^4, t.test(x ~ sample(g))$stat)
mean(abs(t) > abs(t.obs))
[1] 0.0298
Here is a histogram of the simulated permutation distribution of $T,$ with
$\pm T_{obs}$ shown at vertical broken lines. The P-value is the proportion
of simulated values of $T$ outside these lines.
hist(t, prob=T, col="skyblue2")
abline(v=c(t.obs,-t.obs), col="red", lwd=2, lty="dashed")

Indeed, the permutation distribution of $T$ does not look much like a t distribution, so our misgivings about using the Welch P-value are well-founded.
But results of the permutation test clearly indicate that the null hypothesis should be rejected.
Notes: (1) A two-sample Wilcoxon test can be viewed as a 'frozen' permutation test. In part, the flexibility of the a general permutation test comes from the ability to choose different 'metrics' for expressing the difference Conditions (Welch t statistic, pooled t statistic, difference in sample means, difference in sample trimmed means, etc.)
(2) If you really have only three observations under each
Condition, a permutation test may not be better choice than a two-sample Wilcoxon test for testing at the 5% level because there can be at most ${6 \choose 3} = 20$ distinct values in the permutation distribution.