I would argue that Disco Elysium is this sort of thing. They're releasing a director's cut soon, so that's something. The game has no combat, just character interaction and exploration, with a serious depth of choice, and it's a phenomenal game.
Looks pretty neat (except that you're stuck playing a guy, and I long ago got tired of being forced to play male main characters). Adventure games are a lot of fun but they don't seem to get the big budgets that RPGs do. There are some RPGs which let you skip combat entirely and make it a plot point, like
Undertale, but again they're generally indie/low budget affairs.
