Recently released Wayfinder has been scratching that itch for me! It used to be a multiplayer live-service game, but during early access it got converted to a normal singleplayer/coop game with 0 microtransactions and it's a lot of fun. My only issues are with performance, which isn't great, and build variety, which doesn't exist. There are 8 characters with limited customization (except visual, you can do a lot with all the dyes and trinkets) and you just gotta rotate between them to keep the playstyle fresh.

But the combat is fun, the graphics are great (they aren't beautiful, but they have that timeless cartoonish high fantasy aesthetic, like early WoW), and there is a lot of stuff to do and reward chests to collect. It really is feeling like a new KoA to me - as you said, just a solid, mid-tier action RPG.

So considering that we're in patientgamers... add to a wishlist and wait for a sale? :P