They've expanded upon the formula since, with two sequels that add significantly more movement and more complex combat (certain weapons being more effective against certain enemy types) while ramping up the spectacle and scale. Not all of the changes compared to Doom 2016 have been without controversy, but overall, they've been received extremely well. At higher difficulties, they do require very quick thinking. On normal and lower, anyone who can play shooters will get through without much trouble though.

I also really like how tongue in cheek these games are at times. They have fun with the absurd universe they are taking place in, right from the first minute.

There's also a VR spin-off (Doom VFR) that is somewhat downgraded in terms of gameplay, but retains the glory kill system. New story and levels, kind of like Doom 64 back in the day (which you can - and should - play on PC or other modern systems these days if you haven't already). I own VFR, but haven't gotten to playing it, so I can't personally comment on it. It's not regarded very highly though.

id Software assisted Avalanche Studios (Just Cause series and Mad Max) with Rage 2. Different engine, but you can tell from the combat that id had their hands in it. It's a fun, silly, over the top and gory open world shooter that does not overstay its welcome, far better in my opinion than it reviewed. It's the kind of game that many people wanted the original Rage to be, I would argue. Epic gave it away a while ago, so you might already have it.

They also helped out with the development of Starfield, specifically the combat, which really shows. I know many "gamers" absolutely hate this title to no end (the less they've played it, the more they hate it), but that's unfair in my opinion. It's not without its flaws, but there is much to love here. The punchy combat with creative weaponry is one of the best aspects about it, but not the only thing I like. It's a surprisingly wholesome, warm sci-fi universe compared to the nihilistic cynicism that is so rampant in modern media narratives. When it came out, it was exactly what I needed.

Speaking of wholesome, Machine Games used a highly modified version of the engine from Doom 2016 for Wolfenstein II, which also has absolutely fantastic combat (just like the predecessor and a spinoff of said predecessor, which used an engine based on id's prior one for Rage). It's a bit slower than Doom 2016 and has some stealth gameplay (mostly player-driven and optional), but still frantic enough, given the series' history. I can't recommend these games enough, especially since narration and world building are even better than the already brilliant gameplay. And yes, in these games set in a dystopian world taken over by insane Nazi super soldiers, there are plenty of touching, wholesome moments with the diverse cast of resistance members. Really surprised me in a good way. 10/10 stuff.