Disco Elysium lacks grinding and battles but is very much a roleplaying game with a compelling story and characters (including those in your head).

Crosscode is an ARPG which will certainly scratch that itch for Zelda like dungeons. Combat is skillful, but easy enough that you don’t have to grind out the best gear and levels, though there is the option to grind a lot if you were to want that. The story is also really nice.

Crystal Project is the best JRPG I’ve played in a gameplay sense but it will require you to level classes and consider abilities. The reason I’d recommend it is because combat isn’t really just bigger numbers, end game combat encounters especially are like puzzles where you need to use the right tools in the right order. Also I’d say half the game is about exploration, the game embraces sequence breaking and going your own way, and has fun though occasionally frustrating voxel platforming. If you want a JRPG that is more story focused then I think Mario RPG is great, and you don’t have many choices to make as there are only like 5 characters / classes, it also has some voxel platforming and comedy.