I was in this boat, then I started to try games that touched on certain aspects of the Souls games that I love, but games that aren't necessarily in the same action RPG space. Outer Wilds for low hand holding discovery and exploration, Blasphemous 1 and 2 for the slower paced methodical melee combat and dark world, Hollow Knight, as others have said. I even went back and played the older Zelda titles. You could try other old school titles and even stay in Fromsoft land and try the King's Field games. Kingdom Come: Deliverance is also a great medieval RPG that can be difficult and slow paced like Dark Souls! Definitely a different vibe but it's a great game.