As many people have said its very much about the game. Huge open worlds can have massive appeal and help RPGS feel more rewarding and friling to play with a bigger sense of discovery. Equally smaller, unique envrionments with real purpose and attention to detail have their own appeal and can really leave an impression on the player.
I love skyrims overwold, it didn't feel empty to me and I did make a connecion with it. I also love the character poured into games like Zelda Where every NPC is unqiue and the worlds are smaller but filled with character and tone. So I wouldn't push one over another as definitively better, but I do feel like there is a regressive trend of assuming bigger is better and constant braging of how the new game is "x times bigger" then the old one.
Honestly, no offline RPG needs to be bigger then Skyrim unless its an infinite procedurally generated world like No Man's Sky. I'd argue very few games should aim to have overworlds which take more then 5minutes to transverse from one side to another when using the fastest means of manual travel.