Been talking about this game a lot recently because I just 100% it: Jak and Daxter.
The level design is astounding for a PS2 game. Every environment is unique and has mechanics that change up play style is some way. The way the worlds are interconnected is similar to Dark Souls in that there are no load times, but there aren't paths that open up as shortcuts to previous areas. I even saw specific level design reminiscent of certain Dark Souls levels, such as Spider Cave and Blighttown. Naughty Dog created a world that is just a pure joy to be in.
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