As far my knowledge goes, below 20% will require PMI on most loans. The small amount that won't require PMI would be Non-QM but generally that wont accept less than 20% and then maybe some local credit union has a unique loan option. There are options that will remove PMI once your Loan to Value drops below 80%. There are two great starter loans for owner occupied Freddie Mac Home Possible and FHA.
Freddie Mac Home Possible can have a down payment with as little as 3% for a single family or 5% for a 2-4 unit that can be paid by you, a gift, down payment assistance programs or even sweat equity. If you paid 15% down then your PMI would be extremely low and you could potentially have the loan to value down to 80% in a year to two at which point you could remove the PMI. This loan does have income caps that vary depending on location. 2-4 Unit purchases will require landlord education and if you are a first time home buyer then Homeownership education is also required.
FHA can have a down payment as low as 3.5%. The upfront MIP that is rolled into your loan is 1.75%. The monthly multiplier is .85% of the loan amount divided by 12 months to get you mortgage insurance payment. The mortgage insurance is on the loan for the life of the loan but is a low payment. There is no income cap for FHA. If you are a first time home buyer then Homeownership education isn't required but can be required at the underwriters discretion.
There are many options available to you and with 740+ credit score you will get the best rates available. Speaking with a lender to get preapproved and go over options will be your best bet.
Best of Luck!