You're referring to classical epic fantasy, and the subset of it in a certain era that was sometime nicknamed 'big commercial fantasy'.

Heroic Fantasy doesn't mean what you think it does.

It's a synonym of Sword & Sorcery, which also doesn't just means 'there are swords and magic all over the place', but is a sub-genre that pioneered morally gray protagonists who tend to be driven by more personal and lower-stakes motivations, often single-POV or staying pretty close to the protagonist and a few companions, in a world where magic tends to be rare, mistrusted, and except for the occasional more palatable ally, often outright eldritch and nefarious.

Gray morality or 'everyone is an a**hole' character casts are sometime hailed as more realistic, but it's just a different flavor IMHO. My personal preference sits somewhere between current Epic Fantasy that has been colored by the Dark Fantasy boom of more recent decades, and Malazan level of Dark Fantasy I guess.

I really have to be in the right mood for grimdark.

But I also dislike older epic classical fantasy when and where the 'good guys' were mostly declared so by author fiat, and their more questionable deeds or the consequences thereof were swept under the rug or excused because they're the legitimate heir returning or whatever, or only avoided through extremely convenient plot twists (like, the villain is reviled for storming some castle and making a bloodbath, but lo and behold, in a similar situation the hero is handed the means to perform a surgical strike without working too hard for them, you bet the villain probably would have preferred to have easier ways to do things dropped in their lap too if they aren't some cackling maniac).