Where you're not just dumped in and you have to figure everything out yourself. And where you are not given tons of information at once in quick succession.
But it's also not as slow as a mobile freemium cash grab tutorial, where things that are obvious to gamers are pointed out and made to be the only thing you are allowed to interact with.
I think "Rise of the Tomb Raider" did a particularly good job of this.
It's much more "on rails" than other games in this thread - but the mechanics, abilties and puzzles arrive at a comfortable enjoyable pace.
A great tutorial anf learning curve is what set the first Tomb Raider game apart from competitors, and I think the franchise has done well to maintain that across the many entries. Almost any entry in the Tomb Raider is a solid choice for this.
But "Rise" really stands out as an enjoyable experience with the right amount of challenge that feels really good to play, particularly late game when routinely pulling off epic movie heroic moves.
Edit: Rise of the Tomb Raider is sometimes just the "Dragon's Lair" formula perfected, but it works.