I thought all Bethesda games have them. So do the Witcher games. The trick is to give the player cues as to where NPC's will be according to time of day, and both Witcher games did that fairly well.
Oblivion was the first TES game to implement it. I remember the NPC's in Morrowind, they just walked around to waypoints and occasionally walked into walls. I can't remember much good about that game.
Concerning games with NPC's schedules I can only think of two that haven't been listed:
Two Worlds 1 had an NPC schedule system but it was as crap as f***. Nevertheless, people went to sleep, merchants arose and went to their stalls and occasionally (but rarely) you'd find two NPC's talking. Yeah I was surprised too considering the poor scripting elsewhere in this game. Two Worlds 2 ditched this feature though and just made NPC's vanish when night-time came (like how Baldur's Gate did it).
Dragon's Dogma is a recent example. You won't find NPC's sleeping (although they vanish at night) but NPC's do return to their homes (at least this is observed within the starting village where NPC's go to their house and lock their doors but you don't see it in the city), have jobs that they perform, as well as hobbies and you'll find them trading, praying in the church, talking amongst each other, eating, drinking and generally just wondering through the village/city.
There are some Neverwinter Nights modules which have this feature too. Of course they aren't as dynamic as what Larian are aiming for and don't include unique scripts for every individual NPC.