It's not perfect but other than Gothic2 which is also flawed I can't think of another (Action)RPG that comes close.
I have played Gothic 3, I found it to be one of the most depressing games I have ever played. I am not sure if I can pinpoint the very reason. I've heard of the many claims that Gothic 2 is better than Morrowind and the TES series, but I am not sure I could get into it after my experiences with G3. Even though I've been tempted to try it.
Keep in mind, I love difficult RPGs and I really liked what it had to offer. No doubt it has a lot more immersion, survival, and roleplaying elements than TES, but it lacks charm and character. It was an incredibly isolating experience, that coupled with the NPC dialogue and sad music made it a really weird experience for me. It was one of the only games that made me feel incredibly conscious and guilty for playing a game instead of doing something else. It was just kind of like, me running around this huge open world, all alone, killing animals and then skinning them... not being able to connect with any of the characters in the game. Basically, this game made me feel like a true hermit.
/weird rant