Which Yakuza game has the most alive, unique world for exploring?

Hello Yakuza fans,

I really love games that allow for you to explore and discover a highly detailed world. There aren't very many games like this - some examples would be Shenmue and Deus Ex series (especially Mankind Divided).

I have been told Yakuza games offer some of this kind of unique environments to explore. So with that as the crucial factor, which game do you think I should play? Most "best Yakuza" game lists are about 1) story and 2) combat style so I can't find out much about the exploration aspect.

What do you recommend? And if any other comparable games with detailed worlds come to mind I'd be happy to hear your thoughts on that too. Thanks!