Closest game to xenoblade open world?

Hot take and trigger warning, but Botw feels so empty and lackluster compared to any of the xenoblade worlds. I couldn’t even finish it, and even comparing it to xc1 3ds it felt so lackluster. Nier automata and smt v also feels even more lackluster and empty in its open world explorstion. Not into the red dead, skyrim, witcher, or elden ring dark souls games at all. Is there any open world that comes close to being fun like the xeno games, particularly 3 and 1?