It’s an older game, but I would say Dragon Age: Origins (the DLCs/complete edition make it even better).
There are fewer companions and most of them are human IIRC, but overall I think they are better fleshed out and more interesting. I liked them all more than most BG3 companions, perhaps in part because they aren’t all nymphomaniac bisexuals who try to jump in your pants as soon as you look them in the eye and say “hello”.
The story is perhaps a bit more grounded than in BG3, but I overall liked it more and though the overall world and cast of characters were more interesting. You even get a unique starting area depending on your race/class! And even though BG3 is perhaps larger in terms of actual map area, but in DA:O you explore so much more of the world and go through so many different areas with different societies/kingdoms that it ends up feeling bigger and richer in lore, IMO.
Other than that, I would maybe also add Planescape: Torment(*), Fallout: New Vegas, Disco Elysium.
(*) Disclaimer for Planescape: Torment; the last third or so of the game was made by a different team, and you can definitely tell, but it’s worth getting through to the ending.
EDIT:
I forgot to mention this, but it might be important to some people: regarding combat, in DA:O it’s just ok, in P:T and FNV it’s just there to get you through the story, and Disco Elysium doesn’t even really have combat. BG3 has by far the best combat, so if that’s something that is important to you, then it’s worth to keep that in mind.