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I guess "action/adventure" would be the closest option, but I really just love third person games that mix action-based combat with large, interesting worlds to explore and a decent story, all without getting bogged down with too many items or menus.

Games that fit this description:

The Legend of Zelda series
Okami
Demon's Souls
Shadow of the Colossus

A lot of RPGs come close, but they ultimately fail due to cut/paste level design and/or too much digging around in menus (Oblivion, Final Fantasy).