Drakensang: The Dark Eye and (especially) Drakensang: River of Time are excellent, often underrated games. As a classic fantasy adventure, they are second to none. I love the atmosphere of these games: something bordering on Tolkien and old D&D. In many ways, these games are very similar to BG1 (party-based, low-to-medium power level, relatively faithful adaptation of the PnP system).
IMO - these games are full of a "sense of adventure".
Personally, it annoys me that many modern cRPGs do not even try to reflect the "atmosphere of the Middle Ages". Many games are set in some strange "never", where the characters talk like modern people, the architecture is not like anything historical, the feudal system does not exist, etc. Of course, I do not mean "realism" (which is always a delusion in fantasy games), but a certain "adequacy". There are actually very few games that are set in pseudo-medieval ages - with minimal respect for realities. Perhaps the main reason is that modern game developers are so desperately little read. A good fantasy will not be made by someone interested in fantasy. A good fantasy will be made by someone interested in history, mythology, etc. The few games that reflect the atmosphere of a fairy tale-medieval are, for me:
BG1 - the title city is a beautiful medieval city; BG2 loses - in my eyes - this value. In SoA everything looks like a random cluster of motifs from different times and places. It’s like Disneyland.
Might and Magic VI - I can't even say what it's all about. But playing this game feels like wandering somewhere in the land from "The Hobbit". Ruins of castles on the hills. Medieval dungeon paintings. Dark swamps and ancient tombs... The feeling of discovering ancient secrets.
Darklands - for obvious reasons.
Drakensang 1 and 2 also taste like a classic medieval fantasy. I like the cities (Ferdok, Nadoret): accurate architecture, reminiscent of real German old towns (e.g. half-timbered buildings, interiors of temples). I would venture to say that Nadoret (and the surrounding area) is one of the best cRPG cities of all times.
I like bazaars, streets and alleys. I also like the look of weapons and armor (no nonsense like giant anime-like swords). I like that we meet representatives of professions that rarely appear in games: jesters, tollkeepers, millers, messengers, private foresters, Gypsy fortune tellers. As a result, the world of Drakensang looks colorful and believable.
Add to that - Drakensang 1 and 2 are one of the few cRPGs that have interesting forest levels. There are a lot of games that have nice cities or dungeons. But there are very few games that offer interesting gameplay in the forest. Locations like Blood Mountains are real masterpieces.
I highly recommend these games. There are better "spiritual successor" to the BG series than, for example, Pillars of Eternity. They have many weaknesses and are quite linear - but it doesn't matter. It is a real product of passion. Product of people who know a thing or two about history as well as have real experiences in PnP RPGs.