I thought about this when i played Soulhackers 2. That dungeon design was boring and very horrible in execution. I hate teleporters in any game and for some reason the radomized Mementos in Persona 5 doesn’t annoy me as much as the soulhackers 2 equivalent. I’m know what i don’t like, but i’m not completly sure what dugeon design is good in my opinion. I doesn’t like dugeons or route that always look the same, a maze with each position that look the same, so i guess i like dugeons more that vary about the design a lot. Funny the first that came to my mind is Kingdom hearts, i think those maps are change ennough to came to my mind. Or i remember that World of Final Fantasy was good in my opinion as well. But i’m sure you have better examples
Etrian Odyssey probably has the best dungeons if you’re into map drawing.
For more traditional JRPGs, I prefer puzzle dungeons. Golden Sun and Lufia come to mind - although I cannot think of anything recent. At least not good ones, modern puzzles are often tedious but easy.
For action RPGs, Dark Souls and Bloodborne are probably the best I’ve played.
The common denominators between these are: You’re rewarded for being thorough, they aren’t fully linear (but it’s mostly clear where you should be going) and you cannot run through them mindlessly. So I guess that’s what I think makes a great dungeon in RPGs.