What are the best exploration based games on PS4?

The companion characters are relatively interesting, from the ever hilarious Rolf, to the sad story of Deshavi, they all have their own quirks that make them interesting and a joy to have on your team, they'll interact with other companions, both in good ways and bad ways, and they'll even comment on their homeland when you ride near it. You even have the option of making every single companion a lord should you wish it.