I've been thinking about it and nothing comes close to RDR2 for me if judged by this aspect alone. It's simply out of this world, packing more detail and nuance that many linear games that can afford to be more detailed...
The deliberate animations, the animal behaviour, the entire ecosystem and how the world reacts to you. It all becomes a part of gameplay and immersion and to the level I've yet to see replicated.
Not saying it's an impeccable game in every regard but it really made me feel immersed in even the simplest things like completing the compendium, hunting etc. because it all felt like a natural extension of the setting.
Visually, Horizon 1&2 impressed me and both are good games, just with nowhere near the depth of RDR2's world, which also excels graphically, so it's still RDR2 for me.