I actually didn’t encounter anyone saying Dark Souls and like games being an ARPG. Dark Souls like games are usually called Souls like.

That is because everyone uses the term "Souls-like". But if that term isn't used, then they are all labeled as "Action Role-Playing Games":

A Soulslike (also spelled Souls-like) is a subgenre of action role-playing games known for high levels of difficulty and emphasis on environmental storytelling, typically in a dark fantasy setting. -https://en.wikipedia.org/wiki/Soulslike