I want to make a case for Saints Row IV: it is my go-to relaxing game. I have it installed on my PS4. The game has a GTA-esque setting and gameplay style, but where GTA is a clever satire of the real world, SR IV doesn't concern itself with the limits of reality: in fact, You play as the President of the US (with super-powers) and your main opponent is an alien overlord - with a pretty good voice actor. Now a lot of people tell me that SR III is the far better title and I bet it is, but if you haven't played the 4th installment I suggest you give it a try. It has a special feel to it that keeps me coming back. Not for the story, but for the happy accident that produced an almost meditative game. I love running through the city, killing aliens and causing all kinds of mayhem. Looking forward to hearing your thoughts on this title.
If you are getting the game on steam keep in mind the last update broke basically all the old mods, and it was late enough after development that they didn't really get updates. If you want to mod the game or avoid it pestering you about logging into epic use the older version you can apply in the properties of the game in steam.
Also know that if you want to play coop ymmv, its a fun game but crashes and disconnects are common, and your progress with your friend might desync if you disconnect, so you may need to juggle who is hosting.
TLDR: good game, buggy coop, mod scene is sort of complicated due to late stage patches to implement EGS stuff.