Shadow of Mordor/War are pretty awesome and sound like just what you're looking for. Less focus on stealth but its more there than Elden Ring for sure.
Also seconding the Dishonored recommendations for sure - they have the same fluid movement and fast-paced stealth Cyberpunk does so well, and I'd add Prey because it's also awesome.
Less exactly what you want, the newer Tomb Raider games are decent, though they're mostly action-stealth gunplay vs (I assume you want) swords. Same with Control.
NieR Replicant and Automata will scratch the 3rd person action RPG itch but they have no stealth.
Lies of P is awesome, but it has no stealth. It has several unique mechanics that put it way above other souls-likes for me (the parrying and single recharge of healing to name a specific few).
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