If Deep Rock Galactic counts, then Monster Hunter games should as well. The hub is usually a bar/restaurant with food, drinking, and an arm wrestling mini game. You can also randomly cook meat out in the field or go to hot springs.
Many other games do have bars, but without any real interaction. Lego games and Borderlands come to mind.
Stardew Valley has cutscenes at the bar and you can play a mini game there, but not quite as interactively as DRG.
That's all I can think of right now. It feels like Baldur's Gate 3 or Saints Row should also have something similar to Stardew at least, but I can't remember how much you can do in those bars. Same with MMOs I haven't played in a while like Runescape. I'm sure if I mention them someone else will know though.
As a bonus: with modding, Lethal Company can have a casino with a bar you can get drinks at.
Ale and Tale Tavern is a game about running a tavern. Star Was Galaxies back in the day was one of the only MMORPGs I have ever played where people actually hung out in the cantina all day. You can still play it with help from the linked site. That was an incredible MMO and a shame what happened to it.
Liars Bar. 4 player card or dice "bullshit" game where loser takes a shot at themselves Russian Roulette style. Me and my friends play, it's a lot of fun!
the nerd.nu pve minecraft server (for shared public spaces made by players that feel real and actually social). Very long running with no lame autoteleport so player made rail, roads and nether roads create emergent highways and gathering spots in a meaningful way that is exceedingly rare for open world multiplayer
The point of Terraria is very much not building things- though you can- and it wouldn't be great for this. Building something that looked like a bar would be a ton of effort and you wouldn't really be able to just go there and get a beer. Drinking it would also just give you a buff.
Maybe Minecraft but I don't think it's the vibe OP wants, and you still couldn't really do more than make an area that looks like a bar without mods.
WoW was my answer, there's tons of taverns and you can buy alcohol and it makes your character tipsy, doesn't walk straight anymore and the vision gets blurry. I'm pretty sure most of these RPG style games have things like that.
I haven't played GTA Online in a while, but a thing we always used to do in our group was ending the session by visting someone's apartment or biker club or yacht or whatever, going to the bar there, and getting drunk until someone had to respawn at the hospital. Visits to public nightclubs or the casino and getting drunk there (sometimes even dancing or gambling before doing so!) was more a mid-session thing for us.
Terraria... you can build your own picnic (with campfire) , build a cottage with a fireplace, anything you can think of.
You can sit down on benches, chairs... and just drink ales (or sake), watch the sun, moon, lantern nights, or mod in photorealistic backgrounds, night skies...
And then you can decide to fight a boss all die to it (vanilla can be too easy, try Calamity Infernum for a challenge). It's an amazing game.