So if Disco Elysium isn't an RPG, what is?

Tabletop RPGs often have combat even less involved than that one instance in DE
in fact you can have an RPG entirely without skills or even dicerolls
what defines an rpg is players ability to significantly alter the story and dialogue
and no, that doesnt mean you have to have a billion endings, all that is needed are multiple ways to achieve one ending
thats actually how Tabletop RPGs operate, GM listens to players and alters the story without compromising its structure
thats because RPGs also rely on players who are willing to play along with them, and not retards who want to brake/misconstrue/ignore them intentionally

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as far as replicating a TTRPG experience, I have never seen a video game coming closer. my experience with those is that your party will spend a fuckton of time on relatively minor shit that take a long time to resolve but it's also where most of the fun lies as you are building up your character's internal monologue. it comes down to the DM at the end of the day but I'd say the answer to your question is mostly yes.

blessed and reds shield