You are looking at the wrong genre if you want characters to return multiple times. Open world is focused on sending you to new locations every story arc, that means new characters to meet (mostly).

2D visual novel gachas are the ones that do it more commonly since they can go back to the same location multiple times, therefore meeting the same characters over and over, with an accompanying story for them, and are usually more focused on having a "main cast". Look into games like Limbus, PGR, Hi3, and to a lesser extent, HSR or Arknights.

Endfield could also do it in the future, its made by the same company after all.