Suggestions for a good PS5 RPG?

So, I’ve always been a fan of RPG games, especially the ones with a lot of character customization. Unfortunately, that genre seems to have fallen out of popularity. I mean, most games seem to include RPG elements, but it feels like it’s getting g increasingly hard to find a pure RPG game.

Can anyone suggest some good ones from the last four or so years? Preferably a PS5 game, but I can work with PS4 or Steam if needed.