MGS5 did it very well! (That's if you made it passed the long intro)
It's chapter based. So you get 1-2 minutes of introduction, then tossed into the field. Story follows more gameplay like cassette tapes or walkie talkies while you explore, with cutscenes when you hit certain points.
After MGS5, I find it hard to play the older ones with its 10-30 minute cutscenes.
It's funny you praise 5 for that, but as a huge fan of the series I think the best description I read of mg5 was: "it's simultaneously the best stealth action game out there and the worst metal gear game in the series." Lol
I think the open world kinda ruined the pacing of the story and it all felt kind of disjointed in comparison to the linear games. That's coming from someone who LOVES open world games too. Still lots of fun though