I think if we are strict on the definition, BG3 is definitely the better roleplaying game. The Bethesda games are better at the go here and do anything,but their world connections has always been far more gamey that what Larian is doing. I think if Bethesda really wants to make ES6 the undisputed best again, I think they need the NPCs improved to at least Oblivion standards, better town to town(power Dynamics), better so that remembers what you have done contextually, and then probably 2 or 3 very well fleshed out companions, and a really good story which I think they have set up already. Their gameplay is undisputed imo, but their reason to care about the world can sometimes be a mile wide but an inch deep.