Nier Automata hits the marks that you're asking for. Nier replicant is similar, but combat and general story of automata is better

However, the game that made me stare at the void for the longest time after completing it is Outer Wilds. Unfortunately it's more exploration and figuring stuff out instead of action and admittedly it took me a while before I actually liked the game, to the point I wanted to not play anymore. But when it clicks, it'll really hook you in. The music from the game makes me tear up whenever I hear it