The well written and interesting quests in The Witcher 3 pertain to the main story. Virtually everything beyond that is simplistic, with poorly developed characters and frankly is pretty uninteresting.
And the GOOD quests are all based around pre-established relationships between Geralt and the key players. Dijkstra, Yennifer, Triss, even the other Witchers... Their intractions and the stories surrounding them are largely based on the past history between the characters. Even the best developed character that doesn't have this background, the Baron, has a almost a the main quest devoted to his story, and the interactions rely heavily on a set variable; Geralt.
Trying to do this in TES is a disaster waiting to happen, because it requires pre-established identities, associations, relationships and takes away from the players ability to define their own charater. All NPCs have to be based on the assumption that the PC has never encountered them, knows nothing about them, and has no past with them, while at the same time allowing for a broad enough range of interactions to allow for as wide a range of player-determined characters as you can.
Trying to take the Witcher style of story telling and writing, and applying it to a more open-ended character game like TES, is trying to stuff a square in a triangle hole. Even cementing a more solid identity in Fallout 4 to try and give some of the emotional interaction you saw in the Witcher was a disaster.
I didn't find the crafting particularly good. It was the same old nonsense as virtually ever other RPG, but with more material clutter. Dragon Age Inquisition's crafting was far more interesting, and Skyrim's system was at least based more on raw materials than weird refinements that only serve to bloat ingredient lists.
I do think there is room for Recipe crafting in TES, but The Witcher didn't bring anything new to the table beyond more clutter.
I for one hate mini-games. I played Gwent for all of the tutorial and decided it was pointless and abandoned it entirely. Frankly, i think GTA and Fable are far better examples of using Mini-Games than The Wticher has ever managed, and even those tend to be annoying a superficial. I'm not entirely against Mini-games, but they need to fit in the world, be interesting, and most of all not be particularly important, and there are far better examples out there than Wild Hunt.
This is something of an issue, but i don't think it's something that can be learned from The Witcher, because... well, The Witcher wasn't very good at that either. It SEEMS good, sure, but when you really get down to the details, it's biases are unjustified, it's prejudices are taken for granted, and it just expects you to understand the ideological conflicts because they're just based on real-world comparisons, many of which don't really fit the medieval setting they're trying to portray. Morrowind did a far better job, and serves as a far better example, than Wild Hunt ever managed to be.
Meanwhile, i don't think that a lack of trying, or a desire to be more sterile and family friendly, is behind Bethesda's less interesting or touchy. They're just not good at it. They TRY to be more controversial with Fallout 4, and just end up flopping around in the kiddy pool because they don't have any clue how to approach the concepts they're trying to explore. CD Projekt Red took the easy road and just superimposed current social and ideological conflicts over the game, rather than building up anything setting-related, which frankly i don't view as a particularly good approach worth mimicking.