Before Skyrim, Oblivion, and Morrowind there was Daggerfall, the second entry in what has become a household name for fantasy RPGs. The original is available on Steam and GOG, though 23 years later we have a modern remake in the form of Daggerfall Unity which brings in modern graphics, controls, QoL improvements and mod support (as well as Linux and Mac support).
There’s an option (or maybe it’s a mod?) in Daggerfall Unity to reduce the size of the procedural dungeons. The plot dungeons will still be stupidly large, as their layout is fixed, but it helps with everything else.