DS3 really nails that balance. Mostly linear but usually has some sort of side option if you need a break from your current wall of a boss. Playable end to end without devoting like 100 hours. It also comes after Bloodborne where From nailed down more fun active combat vs. relying on a shield, and before Elden Ring where they went hard on crazy delayed boss attacks.

These days DS3 is probably my favorite of the series overall.