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True RPG's denote choice and shaping the world you're in with your actions like the Witcher 3. The only RPG that used to get away with linearity was JRPG's (and they still do). It all goes back to D&D really. Most RPG's today are just action games with role playing elements. True RPG's are guided by your actions influence. This is why even though Mass Effect kind of missed the mark at it thats what it was going for. So far the Witcher is the closest major RPG to reaching these ends outside of Elder Scrolls. I haven't played Fallout yet, but I believe it meets the criteria as well.