For me Dark souls is unmatched so far.
Bloodborne is a also masterpiece.
Elden ring is too fresh for me to judge it fairly but it's an extremely impressive game (the size and amount of content, art design and the level design is stellar in some dungeons). I think I prefer the more contained experience of previous titles but it's a masterpiece in the genre.
After my recent replay of Sekiro, I can say it's a masterpiece of action game. Combat and art/level design are amazing.
FromSoft are masters of their arts and hope it continues for years.