I have not played it, but people rave about The Outer Wilds and it sounds like it fits your needs.
It's not at all my thing, but search the term "walking simulator" to find stuff like that.
Have you tried some of the games you're talking about on the "story" difficulty modes? Most have moved to calling it something like that instead of "easy", and I'm at the opposite extreme, but a lot of them are designed to let you experience the world and story without the pressures of combat.
If you have access to a switch, Mario Odyssey or Kirby and the Forgotten Land have some "combat" but you can skip a lot of it, and they're made to be beatable by kids. Other 3D platformers exist in similar veins as well.
ripcord