Someone else recommended Darkest Dungeon. Any time I see it I also recommend Iratus: Lord of the Dead. It's a similar game but has a much more forgiving learning curve, less grind, and IMO is much more customizable. Both are excellent though. Iratus uses a nav map much more akin to slay the spire, so no "walking", just click and it goes, and you can route plan ahead. DD is similar but you do walk through parts of the dungeons from room to room.

Also check out Symphony of War, which is an old school style strategy RPG. Maybe not quite what you're looking for but I'd argue more similar in style than not, and the "walking" I think of from your post is 100% absent from this game.