Unlike some here, I enjoy exploring the places in Daggerfall.
I didn't enjoy them much due to their repetitive and often nonsensical nature, but I can see why someone could not so much enjoy them but be actually enamored with them.
They did make good use of one's spatial skills too.
Gothic's controls aren't even that horrible tho.
How horrible given controls are often depends on many factors, including player's handedness and gameplay habits, such as reliance on mlook. A game with non-remappable WSAD movement or even WSAD movement replicated on the cursors, but with all the vital controls clustered around WSAD and non-remappable will probably feel ok if you're right hander, but will be fucking pain if you're a southpaw.
Similarly I wasn't bothered by lack of mouselook back when I was unskilled player starting playing DOS FPSes as my movement skills, let alone simultaneous aiming and movement were pretty much nonexistant, but now that I'm proficient, lack of mouselook is just grating and turning around with KB alone is just plain cumbersome - thankfully anything from Build onwards tends to support mlook natively and there are sourceports for Doom engine and interface hacks for System Shock 1.
Bottom line is that malleable controls are pretty much industry standard and there is absolutely no valid reason why a game, especially a game released after the end of DOS era, when creating basic controls for your game was no longer a matter of fumbling around in the dark, wouldn't have them.
Comparable to Daggerfall's?? Can you change the keys configuration?
Daggerfall's controls are an example of it done right. They are almost unplayable in default state, but in a minute or two you can set them up to be anything you want, an equivalent of modern FPS control scheme with mlook and everything included.
Bad thing about Daggerfall is you can't make Alt/Ctrl/Shift combinations with other keys in the controls configuration. Otherwise, it has a mouse-controlled view which when combined with the keys is VERY easy and I find to be modern and more natural. Although I've never really been a big fan of "swinging" weapons with the mouse - is there a trick to it?
How do you use modifier keys when already handling a mouse and KB anyway?
Swinging is just swinging - hold mouse button and move mouse.
The Alt/Ctrl/Shift thing is a big thing to me.
And that's case in point when it comes to customizability being essential - because personally I don't care about Alt/Ctrl/Shift, at least not in a 3D game where I move around with my KB, yet someone else may consider them vital.