Games like Firmament
Games like Firmament include Firewatch, Outer Wilds, What Remains of Edith Finch, Quern - Undying Thoughts, and Blue Prince. We matched them by the tags players give Firmament on Steam (Puzzle, Adventure, Exploration, Mystery, and Story Rich): closest matches first, and among equally close ones the better-known games.

Firewatch
Shared: Adventure · Story Rich · Mystery

Outer Wilds
Shared: Exploration · Mystery · Adventure

What Remains of Edith Finch
Shared: Story Rich · Mystery · Exploration

Quern - Undying Thoughts
Shared: Puzzle · Adventure · Mystery

Blue Prince
Shared: Puzzle · Exploration · Mystery

Riven
Shared: Puzzle · Adventure · Exploration

The Room 4: Old Sins
Shared: Puzzle · Adventure · Mystery

Obduction
Shared: Puzzle · Adventure · Exploration

The Painscreek Killings
Shared: Mystery · Puzzle · Exploration

INFRA
Shared: Puzzle · Exploration · Adventure

FAR: Lone Sails
Shared: Adventure · Exploration · Puzzle

Stray
Shared: Adventure · Exploration · Singleplayer

Murders on the Yangtze River
Shared: Puzzle · Adventure · Story Rich

Return of the Obra Dinn
Shared: Puzzle · Mystery · Story Rich

The House of Da Vinci
Shared: Puzzle · Mystery · Exploration

The Witness
Shared: Puzzle · Exploration · Singleplayer

Spirit of the North
Shared: Adventure · Puzzle · Exploration

Call of the Sea
Shared: Puzzle · Adventure · Story Rich

Chants of Sennaar
Shared: Puzzle · Adventure · Singleplayer

The Room
Shared: Puzzle · Mystery · Adventure

Syberia: The World Before
Shared: Adventure · Puzzle · Exploration

The Last Campfire
Shared: Puzzle · Adventure · Singleplayer

Myst
Shared: Puzzle · Adventure · Exploration

The Talos Principle
Shared: Puzzle · Story Rich · Singleplayer