DQH is another weird "seems like a Musou but isn't really a Musou" example.
It's more of an action RPG with some town invasion parts with high enemy counts. I know that sounds like a Musou but it's less about destroying hordes of enemies and has a bigger emphasis on exploring. You also assemble a party of 4 people and can switch between them at will while playing.
But it's a fun game either way. If you haven't played any DQs before you'll miss out on a lot of characters. The game has some OC characters but the majority of the cast are characters from previous DQ games.