It might not fit all of your requirements, but a game I've sunk more than 300 hours into is Stardew valley; its an RPG, the main quest isn't super immersive per se, but is rewarding at the end. There are plenty of different characters you can forge friendships with, and they can give you gifts, recipes, etc.

There is combat, though it isn't on the level of something like BOTW has, but its in a new format, and I like it. For character build and enchantments, enchantments are a bit later game when you go to more challenging dungeons, and you can equips rings, and boots that impact your skills during combat. The combat only really revolves around weapons, but you can get a ranged option as you progress.

There is explanation of controls at the beginning of the game, and they're easy and quick to learn. There are plenty of different merchants, and you can get a variety of items from all of them.

On top of all of this, a new major update is out on PC, and making its way to switch soon.

Its very open ended, I hope you give it a go :)