isn't dark souls basically what a 3d castlevania ideally is?

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Now that you mention it, the first Dark Souls does resemble a mix between NES Castlevania where combat was all about maneuvering and commiting to your actions, and Symphony of the Night which was more focused on metroid-esque exploration. Of course, this is only if you disregard plot and worldbuilding which has a completely different style in both franchises