“Binary Domain” is an option. You are almost all the time accompanied by 1-3 NPCs of your Team. The game also has a, more or less working, voice System to talk to your team through your microphone. That way you can give orders and have some small talk. The game is quite good, give it a try.
I know exactly what you are looking for and the classic Doom games are perfect for this, because they are simple, yet they still feel good to play.
Not too fast, not too slow. No jump scares, only some light puzzles if you want to hunt secrets. There is almost a rhythm to the combat, especially if you play with the shotgun. Try them.
Take a look at the Sniper Elite series. It’s third-person and plays a lot slower than a COD game, but it is full co-op and takes place in WW2. The newer entries also look pretty nice.
Really excited for this and the Broken Sword Remaster that comes out on the same day. Shadowgate was my gateway to learning English. I sat in front of my NES with a dictionary when I was like 10 or 11 years old. Even managed to beat the game that way.