I love the Witcher 3, but I wouldn't call it immersive. You can't really interact with the world, can't pick up everything, most NPCs are just there for background and won't talk to you. NPCs barely react to you. You can steal stuff in the NPC's house while he's right there looking at you, and he won't react at all. It's really immersion-breaking for me. So I don't expect Cyberpunk to be all that immersive. The Witcher 3 wasn't.
What is immersive when it comes to videogames can differ from person to person - Witcher 3 for me is one of the most immersive videogames that I have ever played .. I can't say the same for Bethesda games for example.. Vampire Bloodlines is to this day one if not the most immersive videogame I've played and in that game you can't interact with the world and NPCs like in Bethesda games, but I don't need that things to be in a game if I'm looking for a immersive game.. Metro games - in this example the first two - are pretty linear FPS survival horror games where you are limited when it comes to how you can interact with the world and NPCs, still both are in my opinion one of the most immersive videogames ever released and I personally like them more - and I think that they are more immersive - than for example Half-Life 2
I mean I don't need to have the option to talk to every NPC in the game world when they repeat the same two-three lines of dialog that they have - looking at you Bethesda games - I mentioned Vampire Bloodlines, where you can't talk to any NPCs if they aren't quest related/story important characters (or a prostitute), but I never had a problem with that and I never missed that feature in the game.. Bloodlines is even way more strict to this than any Witcher game or for example Deus Ex games, yet all these games are for me milion times more immersive than TES games or new Fallout games (except of course New Vegas, but that game is a masterpiece and was made by Obsidian)
My favorite immersive videogames in fact are very, very limited when it comes to interactions with the gameworld/items or NPCs - Call of Cthulhu:Dark Corners of the Earth, Pathologic games, Cryostasis, Condemned Criminal Origins, Max Payne 1+2, STALKER games, Call of Juarez Gunslinger, already mentioned all 3 Metro games, Vampire Bloodlines, Witcher games, BioShock 1+2, Prey (2006) + (2017), System Shock games, Dishonored 1+2..
There are games that I love that have more interactivity when it comes to talking to random NPCs, picking up random items and things in the gameworld, etc. - Gothic games, Deus Ex games, etc. but they are immersive for me for different reasons than the interactivity in the gameworld
That the world in CP2077 is very limited when it comes to interactivity is no problem for me, as I showed with my examples already :) But as I stated previously, it's definitely going to differ from one person to another .. I'm right now playing the last Metro game, Exodus and for me it's a immersive masterpiece