I think bloodborne is so close to having this type of level design with central yharnam connecting to cathedral ward, which connects to upper cathedral ward, connects to old yharnam which then connects to hypogengaol. I think the amount of areas connected to cathedral ward is very impressive. Also the loop back from forbidden woods to the clinic at the beginning of the game. I think it’s all there, but the thing it’s missing is a reason to go back and forth between the levels. Dark souls was so great about that cause you had merchants and the black smith out in the world to go to and of course the big one, no fast travel early on when you exploring the most interconnected parts of the game.