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gotta agree with this. even in the early stage you can choose to explore hirata or ashina. then after blazing bull you can further explore 3 areas (4 if you include sunken valley). of course this is not comparable to elden ring since this is not open world. but exploration in sekiro is quite good for me.
DS3 is infamously more linear than it's predecessors, and Sekiro is about on par with it as far as exploration goes, though it gives you more choice about what order you tackle things in compared to DS3's fairly corridor-like progression. There's even secret bosses that only appear if you head to areas in a certain order or revisit earlier sections of the world.
Nioh 2 is it's own thing and fun in it's own way. It's more like a very difficult beat em up where you pick a stage and fight a bunch of monsters. There's almost zero exploration in it if that's what you're looking for.
This is a return to form akin to DS1, where the levels are interconnected, and you open doors to discover areas and shortcuts. I dont think the level design in this game gets enough appreciation because fast travel between Shrines is unlocked from the start.
In Sekiro the discovery is about figuring how to solve the "puzzle" towards avoiding getting ganked, as well as being creative in coming up with your own strat to explore areas while exploiting enemies.
There are some really cool options as far as engaging enemy encounters. The stealth aspect here is really undersold too in how you can sneek around and draw out enemies in a kind of Metal Gear Lite sort of way. The levels aren't cramped linear alleyways like a lot of DS3.
Its cool to look around and see the areas you've been, and realise you're standing at a spot you noticed previously but didnt realise you could get there, figuring it was backdrop scenery.
I really like how the bosses and mini bosses are melded into the game, rather then the Ol' Fog-wall which after six games is starting to get a bit cliche imho
Exploration is very linear in Souls games except for Elden Ring.
Well, there's Outward too, but I haven't played it due to poor reviews. And it's more of a survival game from what I've heard, but eh, give it a look.
https://store.steampowered.com/app/794260/Outward_Definitive_Edition/
As for Sekiro, it's exactly like Dark Souls 1, exploration wise. A set of interconnected levels, no map (again, Elden Ring is practically the only one with a map), plenty of hidden bosses and optional areas, you can choose the order in which you take on the bosses (to an extent). But no, no big open fields to run around on.
As for the other Dark Souls games, DS2 is hub based (pretty similar to Demon's Souls), you can pick between multiple paths each taking you to several bosses, but ultimately you have to do all of them. And DS3 is entirely linear with only like 2 forks and 2 optional/hidden areas. DS3's level design was heavily criticized back on release, but it's a fine game otherwise, with probably the best combat mechanics in the series.