Deus Ex: Mankind Divided, although I would recommend playing Human Revolution first... No character creation, but it is an RPG and has extensive skill trees.
Mass Effect Andromeda (believe it or not). The reviews are not exactly positive but the game has excellent gameplay and great visuals (except the character facial animations). For anything under $20 it's a game worth playing. It has basically all you described.
Black Desert Online. It's more MMO-ish, but it has good visuals. The gameplay is not for everyone, but there are trials available regularly.