.Only carry what you would realistically be able to carry. (no having 10 swords in invent, or 1000 arrows) this is by far the most important thing to implement, your game will change totally when you do.
.Only save in towns.
.Turn off the HUD/crosshair completely, you need neither.
.When not on a quest (and thus not homing in on a quest marker) Dont use the map, if you get lost you get lost. Use roadsigns to your advantage.
Try the following if RP'ing still doesn't make sense to you. Start a new character, but dont do any quests. Thats right, dont do any quests Beth have programmed in. Make a storyline and purpose for your new character based entirely on what the world has to offer.. be it jobs, crafting, hunting, scout, ranger etc... live in the world... but dont be everyones errand boy.