I have a feeling you'll like Horizon. it is much more action than skyrim and witcher. but it has more rpg element than assassin creed, tomb raider or infamous.
for the action, it's mainly ranged combat, so it's a bit more shooter feel than typical rpg like witcher and skyrim. and some games you mention liked are shooter, and games like Last of Us really ask you to be precise with your aim, looking for headshot to preserve ammo etc. in Horizon, you also need to be precise with your aiming, target specific spot for good damage.
the game structure is more typical open world rpg though. which could be problematic for you since you mention you can't get into skyrim, witcher.
but imo, game structure is less of a problem if you already like the core combat gameplay. at the very least, you can just rush to the next story point and just focus on the combat.
and the combat in this looks great, the machines are in particular looks very unique and fun to fight, they had a lot of moves and attack animation compared to your typical shooter enemies. and even when you already discover how to kill 1 of them with ease, the game can mix them up and let you fight multiple enemies at once etc.