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I suppose any open-world RPG would give you that feel of exploration, as long as you get the tools to survive in the wild pretty quickly into the game. I'd suggest a more recent game than Elder Scrolls, though. It's buggy as shit and unless you mod it, downright ugly. The Witcher 3 is pretty great. The gameplay is intuitive but still challenging enough to be fun, and you can easily head off the quest path in early game, albeit, you can't really do much "camping/survival" stuff. Still fun to explore, though.
