>>317403
As >>317364 says, Castlevania can be divided into two subseries. They are commonly called "classicvania" and "metroidvania" (or "IGAvania"). Classicvanias are more arcadey (and hard) "get to the end of the stage" games, and the "clunkiness" you speak of is part of the game design/challenge. Metroidvanias have exploration and RPG elements, and Aria of Sorrow is one of them.
The only metroidvania Castlevanias I played were Symphony of the Night and Aria of Sorrow, and I would recommend Symphony of the Night; it's simply a classic. Playing AoS right after playing SotN felt like a downgrade in almost every aspect to me.
As for non-Castlevania metroidvania games, there are basically a million indie games like that. And as the name suggests, Metroid is also kind of like that but with less RPG elements.