If you are looking for “learn fight, get better, epic win” without much of a death penalty, maybe look at Monster Hunter?
It’s not the same as a Souls game - not much world exploration, not much plot, zero gothiness - but it is 3D Fantasy Boss Fights: The Game. With 14 genuinely different weapon classes to choose from.
And if you faint three times and fail the quest, all you’ve lost are the consumables you spent on the attempt. (If you give up early and bail, you haven’t even lost that.)