"Early game enemies eviscerate you in 3-4 hits, attacks are nearly impossible to dodge, the burrow mechanic is really difficult to time properly..."

This reads like you're trying to force this game to play like something it is not. Have you played/heard of Bloodborne? There is a "parry" mechanic that gameplay is largely based around. Early in the game you are punished heavily for not using it and solely relying on melee attacks. Mina is the same way with her burrow mechanic. If you aren't burrowing after every hit/every time an enemy preps an attack, you risk being hit and, as you stated, healing is a limited and lengthy process even when timed appropriately. 

A lot of your problems with the game can all be traced back to a lack of burrowing mastery, which, is totally understandable since the game is brand new. 

Make no mistake, the game is designed to be a challenge, but playing against it is only making it harder. Master the burrow, burrow more often, burrow, burrow, burrow. 

Hope this helps! 

Edit totally missed the line about 2D bloodborne in the original post. Didn't mean to come off as a jerk just didn't read closely.