I’d say LoZ: Echoes of Wisdom tried to be like this, unfortunately it’s a bit bland. Might be worth checking if you haven’t yet though.

For something I enjoyed more, CrossCode is a fun top-down action RPG, but it’s more of a sci-fi/fantasy thing and a bit more on the action side. It does have extensive dungeons with lots of puzzles though (often relying on switches, timing, movable blocks and clever ways to use your ball-shooting weapon).