I don't believe you actually played much of BotW.
There's multiple towns in BotW, all as filled with NPCs as, say, Monstadt. All significantly different from each other, moreso than in Genshin Impact even, since most towns are populated by a unique race in BotW (not all; Hylians have a couple towns, and Tarrey Town is a melting pot). The characters in BotW have as much personality as any in Genshin Impact. I seriously doubt you even got off the Great Plateau if you did play the game, and that's basically just a tutorial area.
You get so much lore dumped on you, about the Age of Calamity and what's going on today, in BotW. People are constantly talking to you about events from both times, and that's over and above the CGI story setpieces.
You couldn't have missed this if you'd spent much time with the game. So I doubt you did.