I agree with this statement for Dark Souls 2 but the first one had a far more direct story elaborated on by Frampt, Kaathe and Ingward. You are a chosen undead with the power to either continue the age of fire and postpone the dark or the follow in the footsteps of the ancestor of humanity and let dark be cast upon the world. All the other stuff just elaborated further on the story whilst providing stories within a story. The story of Solaire and Siegmeyer last till near the end of the game and could easily be considered full stories. What Dark Souls lacks in terms of a main story (at least direct story-telling), it makes up for in character stories which are, for the most part, direct.
There are lots of reasons to believe that Frampt and Kaathe were lying, even about the whole "chosen undead" thing. It's not quite that straightforward. Anyway, a "character" story is really just a character arc, and to me that isn't the same as a story for the game. But obviously YMMV.
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