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Imo coop is more similar to a single player game that you can play with other people. Baldurs gate is a rpg that you happen to be able to play with other people.
Another example would be deadspace 3.
Most PvE games on the other hand are not primarily story driven. Helldivers, deep rock galactic and such.
Something like left4dead covers both because its PvE but it also has a story.
Then games like palworld are more like survival MMOs. Coop in these games is more of an emergent gameplay, while in other coop games its essentially forced.
I don’t like putting these games together because story driven coop games are pretty rare, but PvE games don’t seem to be as rare.
I mean the books are great too, apparently they’re even better in it’s native language.