For people unfamiliar with their games: Their first one “Gravity Bone” is free on steam. It is super short and almost 20 years old, but it shows off their style and humor very well. Loved their games ever since.
“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.