I'm surprised it took this long but I recently stumbled upon this 3D Map Viewer for Dark Souls (which you can fetch over here.) It all honesty it's not very useful (since it's version 0.2) but it's still very interesting considering the geography and extraordinary use of 3D space and verticality in games in recent memory. I should point out that you don't need a copy of the game since it provides the world model itself (it's not 1:1 scale but it's still very accurate.)
Dark Souls 3D Map Viewer
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