Basically all Bioware/Obsidian RPGs, Planescape: Torment and Witcher series shine in most of the aspects you listed (Witcher series doesn't offer much variety in combat and character building, and combat in the first game is disliked by the majority of players - but story and lore are still amazing). From less renowned games, I'd recommend old good Evil Islands (note that English translation is not perfect, and voice acting is just plain bad - but that game has one of the best storied I've ever seen in a videogame). Kingdoms of Amalur: Reckoning is worth playing once, just note that combat gets repetitive quite fast, so it might be worth it to just go through the main story and faction quest lines, ignoring everything else; although some side quests do have their moments, so it you have enough time, you might want to do a completionist walkthrough. Also, from what I've seen, Pillars of Eternity is quite awesome, although I'm not going to recommend a game I haven't played myself.
The problem is, once you're done with all of these games, there is very little left out there to play that would have the similar experience and quality as the mentioned games. This is the problem I'm having: after I'm done with Witcher 3 and finally have played through Jade Empire (and Pillars of Eternity after that), I simply don't know what to play for the rich story and this kind of RPG experience. I really want to try to get into Elder Scrolls series - I attempted to play through Morrowind and Skyrim before, but the lack of great main story always made me abandon them shortly. Playing Witcher 3, I got to like open world setting, so maybe I will give those games a try once again. There is also Fallout series, but that repels me because of post-apocalyptic setting - I just strongly dislike this genre for some reason.
So, there is even a chance I will abandon gaming and focus on reading fantasy books. There are fewer and fewer games with time left for me to play for the level of the story and character interaction I am interested in.
Anyone looked at Sword Coast Legends yet? While it seems to suffer somewhat from MMORPG influence, i is set on the Sword Coast, allows a party with built in companions, and also allows multi-player. I haven't tried it yet but there are several YouTube videos about it.
I don't want to describe my impressions again, they can be found in the thread devoted to the game. Let me just say here that this game has probably been the biggest disappointment in my gaming history. I struggle to even call it RPG, as there is next to none roleplaying. In its current state, it plays out like some ugly hybrid of Diablo and a typical themepark MMO. That's my impressions on the multiplayer and the custom modules I've seen so far, at any rate; people say that the official campaign is quite good, although I am not sure if this "good" means "good as great" or "good as satisfactory".