Bethesda's "good stories" have always been moreso the player's stories of cobbled together mechanics as a a result of their playstyle/current abilities, gear, and motivation.
Most of the time it might be rote open world questing with some enjoyable grind loop, but there are a lot of particular memories I love, like robbing the Red Diamond jewelry store in Oblivion's Imperial City, "casing" the place by day as a customer and purchasing a necklace, purely to experience the joy of breaking in at 3 AM and robbing it blind.
The joy and hilarity I felt when I came back the day after I'll always remember. Entering the store to see the shopkeep, beaming at his new customer, all of his shelves and cases completely fucking empty, as he vacantly grinned at me, buck naked as id stolen the clothes right out of his sleeping pockets.
I've stolen a lot of shit in that game, but that one was good. It's incredibly rare for me to remember Bethesda's actual character moments that fondly, as they've always come off plastic and rehearsed in some combination of writing, voice acting, and rigid animation. Sometimes they almost reach a good story, like some popular side quest chains, or Paladin Danse's personal quests.
So, I think these two games tell their best culminational "stories" in different fundamental ways, and I think it's neat how each one's best potential narrative, whether written or otherwise, is a marriage of the game's possibilities and the player's motivation and intent. But you're probably right, BG3 can tell a lot more, better stories than my idiotic repetitive Bethesda adventures, but I do like some pulp.