Sekiro and Elden Ring are both much better here in terms of checkpointing close to bosses, though it's still not always just right outside it often is. Indeed I remember a few very tedious routes in Bloodborne and Dark Souls. It just didn't bother me quite so much because I enjoyed optimizing them also!
With Elden Ring also at least there is always other stuff to do/explore (at least so far for me at ~50 hours in) so you can come back later.
The number one thing is this: you cannot interrupt yourself once you begin an action. Neither can your enemy. An attack is a commitment of the entire animation associated with it. This one single thing affects everything else.
Also: rolling! You are very briefly untouchable while rolling.
Time your rolls and your attacks with intention, and the difficulty drops drastically. The game’s are still tough and unforgiving, but in a good way.
Hope you end up revisiting and enjoying the games. I’m historically not a fan of “hard” games and these have quickly become my favorite, gameplay being just as big a reason as atmosphere and lore.
They drop trivial amounts of souls which are used to buy levels, but souls are also gained by beating bosses and from using items that also grant souls.
I've experimented a lot with this. If you just fight bosses and use boss soul items and other easy to reach soul items, you will end each game roughly 5 levels below someone who is more meticulous and clears each zone of enemies without grinding them repeatedly.
At the end of the game, those 5 levels will be a trivial difference.
Now, this often means said bosses are often quite a bit tougher than in earlier games, but you don't have to go through a 10 minute dungeon to get to them every time you die.
Not exactly the same genre as the ones you mentioned, but some challenging combat (at times, not throughout) that doesn’t involve slogging back if you die.
Hollow Knight on the other hand does.
I can enjoy difficulty when I don't have to redo things I've already done; I'm fully on-board with something like a Super Meat Boy or a Hotline Miami, which are also games where death is expected and a core part of the loop, but when dying to a boss involves trekking back through 5-10 mins of low-level enemies I very quickly lose interest.
Am I suggesting all games should account for my very specific tastes in difficulty in games? Absolutely not, but I sure wish that one did. I'm also not sure I buy the argument that the mere presence of an easier mode would somehow invalidate the enjoyment of those with more skill and patience.