This might not be exactly what you’re looking for (as it can be a little rogue-like), but it’s a game that when I looked for similar things, led me to Dredge: Sunless Sea
You’re a ship captain trying to survive in Victorian era London, after London was stolen by bats and taken to the shores of the Unterzee, an underground sea filled with some very strange creatures, people and locations. This means exploring and finding new trade routes or ways to survive while uncovering the stories of the islands you find, those of your crew, and the larger world.
There’s a sequel, Sunless Skies, where you command a space going train exploring the heavens. It’s a bit easier and has some good quality of life improvements, but I prefer the setting of Seas.
My issue with it is that it really doesn’t feel like morrowind in space to me. Morrowind had some interesting environments, and most places you found had some environmental storytelling going on. I loved morrowind because exploring felt interesting (but combat was bad)
Here I’m finding the environments uninteresting, with a few exceptions there seems to be little in the way of environmental storytelling and exploration doesn’t seem that compelling. I’m enjoying the combat more than the exploration, which is unexpected for a Bethesda game. It feels like they’ve gone for quantity over quality with environments, and things are so far apart in fairly uninteresting planets that I feel like it’s just a bit of a chore.
Maybe I’ve just been unlucky with the world’s I’ve explored, and I’m enjoying it enough to keep playing a bit more in the hope it improves, but so far, it’s not what I was hoping for.