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I would recommend Shadows of Brimstone.
https://boardgamegeek.com/boardgame/146791/shadows-brimstone-city-ancients
No DM, difficulty level can be adjusted in-game, nice progress of characters, can be hard at the beginning (just start with the base mission), Miniatures are ok to be painted (some base paints and washed do them them right), The missions miss a combining element means campaign. There are other themed contents with linked missions.
ATM there are 2 base-games, with different enemies and heros.
What i can say about Dark Souls is, i dislike the endless grinding of the same enemies and rooms, to then decide its time to get the end Boss.
Imperial Assault is ok, i tried the original Descent but never liked it. Needs a DM, maybe that is why i disliked it. There are missions who cannot be won by the heros or the DM.