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2nd best would be Risk of Rain 2, just without a story.
Then come all the rest that ain't anymore 3rd person shooters.
There is a third person soulslike Mortal Shell that has an optional rougelite mode, so that would be the second game in terms of similar production value.
Let it Die is also an option, also it's free, pretty high production, soulslike melee/guns pretty much rougelite.
Then you get into the area of side scrolling platformer rougelites/likes that also go sometimes into soulslikes.
You could also make your own soulslike with mods in Elden Ring for example, each time you die enemies change, or change them whenever you want, randomize loot, maybe get even some diablo loot mod to make drops more interesting.
But as close to this in terms of gameplay, Risk of Rain 2.
Loads of games use also the rougelite and rougelike interchangeably, even though the former has meta progression, but the latter doesn't, latter is pretty much if you would play on hardcore mode that deletes your save file. But yeah on steam the tags are usergenerated and most don't know the difference.
Remnant 2 is coming soon but the first one is also great.
Mortal Shell for example has two different game modes, base variant being what makes it a soulslike, and then you have the "hardcore" mode with random modifiers you can gain, just useful for gaining extra item usage info like in Returnal.
RougeLite would be a game that has you starting over, but you don't start from 0.
Sure, it's not that rogue and it is closer to soulslike but well, OP can make up his own mind.
At least it has guns, Mortal Shell has a rogue mode but you are stuck with close quarters. Also Mortal Shell has enemy pop in not fixed since release on Steam which is mind boggling because it is a critical bug.
If OP really wants randomized gear and items though instead of a soulslike build, Risk of Rain 2 is the way to go.
Might as well suggest any 3rd person shooter where you fight against aliens.
Risk of Rain 2 definitely a brilliant game I've put many hours into it, easily one of my favorites. Crab Champions is also quite good but I find it has some balance issues personally.
Risk of Rain 2 is mechanically and mathematically (stats and item interaction) a masterpiece... but it nowhere hits the vibe of Returnal. There's no story and only snippets of data log lore and very much centered around gameplay which is where it excels.
If you want roguelite shooter: prey mooncrash
Beyond that, I recommend the following games below, even though the games are first person shooters but they come really close to Returnal in terms of being Action-Rogue-lites.
https://store.steampowered.com/app/692890/Roboquest/
https://store.steampowered.com/app/1421290/Battle_Shapers/#app_reviews_hash
https://store.steampowered.com/app/1676130/Deadlink/
Other similar games:
https://store.steampowered.com/app/774801/Crab_Champions/
https://store.steampowered.com/app/2334730/Death_Must_Die/