I've only seen proof-of-concepts, like Vaudeville[1]. I think more work is currently done in the modding scene, for example with Mantella[2] which, "brings every NPC in Skyrim and Fallout 4 to life with AI."

[1] https://store.steampowered.com/app/2240920/Vaudeville/ [2] https://art-from-the-machine.github.io/Mantella/