What are the best exploration based games on PS4?

This game is a medieval enthusiast's dream, you can build up a huge army and fight for yourself, become king, be a vassal for a king, choose to be a wandering tournament fighter, a wandering fighter who takes down bandits, a bandit pillaging villages as they see fit, you can get married, and even get involved more deeply into the politics of the world. You can even join a group of rebels to try and overthrow a king, they will, in turn, then be the king of their respective realm. You can go to taverns, and feasts, as well as set up your own feasts after getting married. You can build your own mills, velvet factories, etc, and be a wandering merchant. You can even be a slaver if you wanted to, whenever you defeat bandits or others, you can capture them and sell them to random brokers, which gives you money. The possibilities are endless.