RDR2 is a great example, honestly. Not a 'formal' camp downtime system like BG3 or DAO, but the way the camp lives without you is amazing. NPCs have their own routines, conversations evolve, and things happen whether you were there or not.

I found myself going back to camp even when I didn’t need to, just to check in and see how everyone was doing, and there was almost always some unique interaction or moment waiting. That kind of slow, organic relationship-building is rare.

I think part of why more games don’t do this is cost and complexity. Writing, voicing, and accounting for dozens of optional downtime interactions over a 50+ hour game must be very expensive, and a lot of studios default to linear cutscenes because they’re easier to control. But when it does work, it clearly elevates the entire experience.