Dragon age: Origins, 2 and Inquisition? I think it fits all, although it is squad based and can be played in turns, at lower difficulty it is entirely viable to play as a 1st person action game where AI squad members assist. The story is somewhat scripted but it does feel kind of open world if I remember correctly. Haven’t played for a long time, but I remember I liked it and it wasn’t too different from Elder Scrolls as the overall experience.