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While it is an uplifting game that I highly recommend, probably don't play Spiritfarer if you have anxiety around death or dying...
Obviously, Chrono Trigger is an all-time classic with some good endings and character building. I'd recommend that too.
Perhaps RDR2 is a good idea also? You're a part of a gang, so you're always near or close to a camp where there are people to interact with.
One of my favorite aspects of the Borderlands series (I played all of them single-player) is that they didn't make me feel lonely.
The atmosphere is very lonely, but there's always some radio chatter or cooky interaction that manages to lighten things.
Katamari Damacy. You'll never be alone again.
The Book of Unwritten Tales comes to mind. It's nowhere near as grandiose as any of your described games, but I fondly remember it being a very charming and wholesome experience. If that's the feeling you seek, you might enjoy it.
Shitpost level reply: Any of the Gradius games.
One of the power ups you can buy is literally to dispense friends (options) which follow you around and shoot alongside you. You can crank out as many as you want, at least within reason. And in some of the Parodius games they are literally little dudes. Or depending on your character, little octopi, cats, or penguins.
Dyson Sphere Project, even without the multiplayer mod you are "connected" to the rest of the player base with the Galaxy View.
Factorio, and Satisfactory scratch a similar itch, but on smaller scales. IIRC, both of those games have multiplayer built in.
I would suggest cozy grove.