@Piru
I believe there was a version of ADoom that ran on an ECS Amiga with 2.1 *if* you had a 68040. Not that that helps much for an A500, as there's probably only ever been one 68040 board for it that I've heard of (PP&S).
As for a stock A500 and 3D games, didn't Citadel and Death Mask run?
There is a port of Wolfenstein for a 4MB Atari 1040STe (which has only an 8MHz 68000) so it may be possible to get it to work and even playable on an A500 with some fast ram.