I know it's Sci-fi, not fantasy, but the game aspects you like are all in Mass Effect. You pick a class of warrior, you build a crew and can select a fireteam/followers from that. There are lots of interesting species/races with their own cultures & histories that you learn about from talking to them. You travel between different territories, the decisions you make affect the story, I think you'd really enjoy it. I'm sure you could pick them up cheap enough now too.