RDR 2 is about the most-detailed and physical-feeling combat system I know of (limb targeting, visible body damage and working guns, ragdoll-type physics, environmental interactions like falling off ledges/into deep mud or snow, etc…)
BeamNG is the most-impressive physics showcase that comes to mind off-hand. It’s really incredible.
Have you played RDR2? It’s open-world, the world is stunning (you can easily ignore the stories and just take in the nature), and the game revolves around your camp/gang, which you regularly return to and interact/check-in with, in addition to accompanying them on missions at times.