Death Stranding 100% gets this right, although it's a bit weird in the end-game when your optimal choice is typically some combination of vehicles and ziplines.

Paying attention to the elevation, pathing around rocks and trying to stay level is a lot more fun than it sounds. Some of the best moments in that game it just lets some chill music play while you carefully walk from A-B and it's a ton of fun the whole time.

Then you finally reach your destination and the story feels almost entirely detached from the walking experience and characters with the dumbest names imaginable explain some made up bullshit to you for 45 minutes.