I haven’t scrolled all the comments yet, so apologies if this has already been mentioned, but Dragon’s Dogma passing a lot of those checks, if you can get over some minor jank. It’s definitely an action oriented adventure role playing game, where you can get quests to take out minor enemies, but also can have epic battles against dragons and giants.

A fun mechanic is clinging to and climbing larger enemies, you can for example jump up and grab the neck of a dragon and hold on while slashing at it. Or you can have your allies hold down an enemy so you can get a critical hit on it. The pawn system for allies allows you to customize and develop your allies to suit your needs and playstyle, and you can recruit other players pawns who come with their own memories and knowledges, but their voicelines can get a bit repetitive. Expect to hear “This enemy is weak to fire” a lot..

Overall it’s a unique and interesting game, worth checking out if you haven’t. Especially if you can get it on sale for cheap.