Torchlight 1 was an amazing game. Torchlight 2 was an okay game. Torchlight 3 is nothing like the previous two and is really awful.

Grim Dawn is probably your best match. PoE is also online only so screw em.

Spent a good chunk of my childhood playing Sacred 1. It's aged very poorly, and I wouldn't recommend it to anyone nowadays, but I still think that the world design and environmental storytelling were some of the best I've found in a videogame.

For example, at the beginning of the game, orcs are migrating from the desert and attacking human settlements. When you progress, you discover that they aren't doing it because they want to, but because the undead army is forcing them out of their land. And when you progress in the northern part of the world, there's a completely optional region inside the forest, where you can find a few hastily made orcish settlements - but you only find women and shamans, because the men are fighting at the front. There are no dialogues, quests, books or anything telling you that, it's just something that you infer from the environment.

It made exploring the world and finding its secrets fun, even if there wasn't always a reward.

(There were also a metric ton of easter eggs, from tombstones mentioning LotR characters to receiving sunglasses as a reward for chasing rude orc visitors from a tourist island... it was a wild game)