Looking for a game with a campaign I can play in co-op with friends

A lot of games that I tend to play with my friends revolve around "runs" (Nightreign, Risk of Rain), "matches" or "rounds" (TF2), or tend to not have much gameplay (chatroom games like Webfishing). They tend to be overly casual and repetitve after a while, and I'll admit sometimes become a bit dry.

I am wondering if there are any games I can play with friends (3-4), where there is a focus on an actual campaign, rather than rounds with wins and losses. Think Elden Ring Seamless Co-op, or if we are able to play something like an Elder Scrolls game together. We tried to play some MMOs, but we found the grinding aspect of it just kind of...boring (no offense, of course).

Genre doesn't really matter, we tend to be into RPG / Fantasy settings, but if there is something that meets this criteria thats more Sci-Fi. So long as we can play a game together where we can kill some enemies, build our characters, and experience a story together :)