Certainly. For reference there are links to
The Stygian Abyss and
Labyrinth of WorldsIt was intended more as a simulation than a straight RPG, even though it is very much an RPG. It is a first person perspective RPG that came out around the same time as Doom but it did a lot of firsts in video games (at least for Dos PC first person games).
For example, it was the first game to allow you to look up and down. Your character got hungry and tired and had to eat and sleep. Torches would actually get used up and burn out. There were many items that were there for realism that served no mechanical purpose (like silverware, stuff that is now common in games like the elder scrolls). Items interacted with each other (so if you used a torch on an ear of corn it made popcorn) and there was physics (so if you dropped and item it would bounce). There were also different modes of attacking that was based on where on the screen you initiated the attack and how you moved the mouse (so you could stab, slash, or bash with every weapon).
One of the things I liked the most was that many characters were unique. You could get through a good portion of the game without killing anything by bartering, bluffing, or threatening your way through NPCs that each had different motivations and aspirations.
So when I see generic hack and slashes or bare bones railroad RPGs sometimes it baffles me that 18 years ago we were able to create some of the most immersing games I have ever played. I wonder sometimes why it seems like we are going backwards instead of forwards when it comes to RPGs. There are greats of course (like Bethesda and Bioware games) but compared to how many total are out there it still seems like a small amount.