I think the bigger problem is what kind of story do you really want?
Open world is impossible fully, because being able to do what we want precludes a power fantasy in our direction; we simply should have no goals but what we pre-determine for ourselves to experience the world. Bethesda, for all of its faults, was good at this; finding random things like a campsite with a dead body, a secret cave or a hidden chest adds to that feeling, it fits perfectly on the exploration category of the bartle test.
When you add narrative to it, Bethesda fails because the narrative is short by design. There is not much going on because the star of the game is you, not the people around you. This is why a game like Witcher 3 also gets away with it; the problem with Witcher 3 is narratively speaking, there is not much to it- linear by design of course, like all RPGs are to a degree, but also focusing on smaller, minutiae details I personally think to add flavor to the game, but to also pad it out. There is a reason why branching storylines and story complexity were abandoned in Witcher 3, to fuel the open world and compromise going where you want and smaller arced questlines. Even the mundane quests, while having a small scene or two, is really akin to The Old Republic in how they tackle questline presentation (just with better cinematography and overall some better quests.)
Inquisition did a hybrid of it with mixed results as well. The filler content is obvious because its what folks focus on; collecting shards and the like. However, the worlds have their own hidden treasures, much like The Witcher 3 and Bethesda Games. One of my favorite side-quests is actually something I found on accident; it was an ancient ruin on the Exalted Plains which had a light puzzle to it, with a pretty neat reward for your troubles and a tough fight against a demon. Completely throwaway, and likely only a few people know what I am talking about, the Dead Hand room, but it was a great moment, and it didn't need a cutscene to show it off, it just needed to be found.
We can argue which game did what better, but the question is what are we actually asking for? An open world game, be it an RPG or crime game or shooter or what have you, by it's design will always force other elements of the game to take a backseat. "Story-driven" content is a very vague statement, because if you really think about it, the only way to properly pace, control and drive a plot, with a semi-branching narrative, is to curb your sense of exploration of the world around you. No BioWare game has ever been non-linear. We get some elements of choosing our path, but the destination is always the same; and that is by design. Witcher and MGS, Skyrim and Inquisition, each of them tackles it a different way, and all of them have strengths and weaknesses in attempting to showcase story and open worlds.
The real trick now is simple- what kind of story are you really after here? Do you want cut-scenes and framed shots, do you want peripheral storytelling, relegated to found notes and lost treasures? Do you want to make your own story in the end?
That to me is a better question in solving this "problem"