They have 100% turned FO76 around; it is night and day to the state it was in at release.
It is of course still multiplayer/online, so has the ‘grindy’ elements associated with that, but even played as a single player game it is a great addition to the series. Better than Starfield at present IMO.
Have you tried Outward? It’s not the world’s prettiest game, and it is a bit clunky, but I loved it.
It definitely sits somewhere in the Morrowind-Soulslike-Zelda-ish genre you’re after.