I highly recommend the original Dark Souls from your description, if you haven't played it already. And in contrast to NMS's lonely, existential galaxy, Dark Souls's (subjective) plot tells a very human story.
Interestingly the only other game(s) I play at this point are Dark Souls (series) and Bloodborne. I'm not suggesting NMS is similar at all but for what it's worth Dark Souls (particularly 1) is probably my all-time favorite game and I regularly replay through the entire series.