I don't want to scare you too much: it's not as difficult or punishing as Dark Souls. Just that it has that similar style where you spend ~75% of your time or more in combat waiting to attack.

As for other games, I see someone else responded with Disco Elysium, which is fantastic. I'd also recommend the Yakuza series. Unfortunately most of the games only have Japanese voice acting. They are also lighter on the RPG elements than those other games you mentioned. But they're overall a lot of fun. Tons of chill vibes, great characters, good music. The combat is just solid brawling: nothing I would say is particularly unique or interesting, but it's not bad and fits the games well. The writing is mostly great as long as you can excuse the occasional bits that I refer to as "anime bullshit": the characters occasionally seem to be supernaturally powerful in order to advance the plot in what is mostly a grounded and realistic setting. I'd say it's kind of like Metal Gear Solid in that respect. The Witcher is based on pulp fiction noir novels, just in a fantasy setting. Yakuza has similar roots from Yakuza crime drama and films.