This is a really broad question that you should really answer for yourself by reading their game reviews. They are not much alike, really, except all of them are fantasy games that involve killing stuff
I can give a cliff's notes, but it won't do the games justice:
The Wither 3 is strongly story driven about a guy with a backstory. It is open world with a lot of combat and sex and gore. The emphasis is on playing out his story, choosing some branches in the story too
Skyrim is weakly story driven. You build your own character, with your own race and factions, but there is one main plot/detail of your character that is still defined for you. The focus is on sandbox exploration - the quests are simple and light and you can belong to many factions at the same time to basically collect quests and really have maximum freedom to do what you want and just inhabit the world.
Dark Souls is the lightest on story - telling a more vague tale as you progress but the (legendary) focus is really on combat combat combat. It's hard, and very repetitive as you learn to overcome that difficulty. Some love it more than any other game type, others hate it with a passion. But it knows what it wants to be and digs in hard on that identity.
TW and Dark Souls are both a bit "horrory" at times, Skyrim is the most vanilla fantasy of the three.
Hope that helps get you started
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