Try CrossCode! It’s action based so it won’t feel too RPG-y.

The dungeons have puzzles which you may enjoy since you like Zelda games.

The combat is really fast and skill based, and you respawn immediately at the last door you walked through, so you might find this gameplay loop rewarding since you like Souls games.

You don’t have to grind, but if you do try this game, try beating a bunch of enemies until the S rank bar appears. Something fun will happen :)