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Nem said:

Has nothing to do with the battle system. Xenoblade isnt turn based either. It has to do with the lack of a proper supporting cast and narritive.

If we go by your qualifications then games like Dungeons and Dragons are not role-playing games (which is ridiculous.) Despite that. Dark Souls does have a plot. The world's flame is dying and the lords with ligh souls are dying with it. You are tasked with either restoring the flame for a little bit, or bringing the world from the age of lords to the age of men (who decend from the pygmy.) Along your way to collect the lord souls, you are confronted by many beings that have been corrupted because of experiments by the old witch. In addtion to that, you also are confronted by lords and their children. The end boss, Gwyn had the most powerful lord soul, and you are given a choice to either prolong the age of lords/fire a little longer or bring the age of the undead/humans. 

 

And that is only the first game.