Rim World, Dwarf Fortress, Kenshi, Caves of Qud are all fantastic narrative generators and give you a crazy amount of freedom.
Another type of game I've fallen in love with that I don't remember being around when I was a kid is automation games like Factorio or Satisfactory. Gives you that open world feeling + exploring but you're not just running errands or slaying dragons.
I'd say that having to tell the story in your head is a sign of failure on the part of the game. But, for an open world sandbox RPG, so is restricting you from enacting whatever story you want and we don't have the technology to avoid both.
I like discovering my own stories, but I want those stories to be how I fought off a dragon to save a town, not how I went into a dungeon for no reason whatsoever and came out with some more treasure and otherwise made no impact on the world.
I could imagine that potentially being extremely immersive, and doing it for a pure text-based interface would be a great first step on eventually doing it for a 3D open world game.