From Software is my favourite RPG developer this generation. Bloodborne and Dark Souls 3 is a masterpiece and they nail the atmosphere, combat and lore of the games with amazing level design and boss fights.
Guerilla Games and CD Projekt Red have also done amazingly well with Horizon and The Witcher 3. The lore and worlds are amazingly well crafted in both these games and Horizon has amazing combat.
Some major games this generation:
CD Projekt Red - The Witcher 3
From Software - Bloodborne, Dark Souls 3
Guerilla Games - Horizon
Bioware - Dragon Age: Inquisition, Mass Effect: Andromeda
Bethesda - Fallout 4
Team Ninja - Nioh
Square Enix - Final Fantasy XV