Yeah, Oath is the best.
Ys Origins is Oath as a pure dungeon crawler. It's based off the Oath battle system. You're in a tower and you climb it and fight stuff. There are bosses, platforming, puzzles, upgrades and it's really fast. The downside is there is an unskippable hour intro of talk/talk/talk at the start. Then only occasional short cutscenes throughout. I'd recommend it for sure.
I haven't played 6, but I heard it's like Oath/Origins but a lot shittier because it came out before them and the battle system isn't as good.