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Wright said:

If you want to have pure fun like you've described, STAGE (at least, what fits into your description), you should totally give a try to Dragon's Dogma. You won't be disappointed.

Just think of how on Dragon's Dogma where you climbed up the back of an Ogre, grabbed onto a Griffon as it flew off attacking it until it dove into the ground, or climbed the Hydra and cut off one of its heads.  That's Shadow of the Colossus on every single battle, just better, and no leveling up or getting an overpowered pawn to progress through certain quests or portions of the game required.