Isaiah says something different
Isa 53:3 He is despised H959 and rejected H2310 of men; H376 a man H376 of sorrows, H4341 and acquainted H3045 with grief: H2483 and we hid H4564 as it were our faces H6440 from H4480 him; he was despised, H959 and we esteemed H2803 him not. H3808
Isa 53:4 Surely H403 he H1931 hath borne H5375 our griefs, H2483 and carried H5445 our sorrows: H4341 yet we H587 did esteem H2803 him stricken, H5060 smitten H5221 of God, H430 and afflicted. H6031
Isa 53:5 But he H1931 was wounded H2490 for our transgressions, H4480 H6588 he was bruised H1792 for our iniquities: H4480 H5771 the chastisement H4148 of our peace H7965 was upon H5921 him; and with his stripes H2250 we are healed. H7495
Awesome scripture, God-fearing!
"Is. 53:3 He is despised H959 and rejected H2310 of men” - Men were the one’s despising Him, not God.
"a man H376 of sorrows, H4341 and acquainted H3045 with grief” - He truly deeply and consciously suffered real sorrows and real grief.
"and we hid H4564 as it were our faces H6440 from H4480 him” - it was man who turned away from Jesus during His passion, not God.
"he was despised, H959 and we esteemed H2803 him not. H3808” - It was man, not God, who despised Jesus and did not value Him.
"Isa 53:4 Surely H403 he H1931 hath borne H5375 our griefs, H2483 and carried H5445 our sorrows” -
Jesus knows exactly what our griefs and sorrows are like, because He suffered the same kinds of griefs and sorrows as we do.
" H4341 yet we H587 did esteem H2803 him stricken, H5060 smitten H5221 of God, H430 and afflicted. H6031” - men thought Jesus was being sticken and afflicted by God, but it was men doing it to Him, not God.
"Isa 53:5 But he H1931 was wounded H2490 out of (prefix Mi-) our transgressions, H4480 H6588 “: “When He was being wounded, we were transgressing against Him to wound Him.
"he was bruised H1792 out of/from (prefix Mi) our iniquities: H4480 H5771” - when He was being bruised, we were committingb iniquities against Him to bruise Him.
“ the chastisement H4148 of/that resulted in our peace H7965 was upon H5921 him” - The chastisement we inflicted on Him brought us peace with God, bcause we learned that even though we treated Him so unjustly and cruelly, even after that he still offers us reconciliation. His magnanimous grace convinced us to reconcile with Him.
" and with his stripes H2250 we are healed. H7495” - "and in/at/by/with (prefix Bi-) His stripes we are healed.” - By learning that He allowed Himself to be whipped, tortured and murdered by us without God striking us down, but continuing to seek reconciliation with us, we are convinced to reconcile with God and so become healed.
So, one does not need to believe in penal substitutionary atonement to make sense of Is 53:3-5.