Firelink Shrine (Dark Souls)
The reason the original Firelink Shrine is better than any of the hubs in later Souls games isn't just the music (which is superior to Majula and any other false idols you blasphemers pray to). Firelink Shrine is the only hub that isn't just a place you teleport back to instantly. You go off on adventures in this excellently designed spider web of a world and find yourself back home, which is when you first realise there is interconnectivity to this world. Then you go off on another adventure towards your second goal, this time for much longer, and somehow find yourself back home again after a long and ardous journey. Firelink actually feels like part of the world and a place you fight to get back to. Later games lose that because we're given powers that might as well have this sound effect:
Majula shares some properties, like picking branching paths, but there's too much teleporting to and from for it to have any impact. It's just a sea view and bearer seek seek lest.
Firelink Shrine in 3 is even less "in" the world, and you only get some intrigue later when you, through a hidden area, find yourself in a time shifted version of the Shrine. As much as 3's Shrine does eventually feel alive with some NPCs talking about each other, the teleporting takes away any impact it might have by always being accessible. You don't miss it because it never goes away. Same goes for Elden Ring, and at least they both have excellent smiths.
The Nexus (Demon's Souls)
The Nexus from Demon's Souls is the only one that rivals Firelink Shrine if not beats it, but with different strengths.
It shares some properties with 3 (because 3 modeled its hub on The Nexus) but it's better. It feels more alive by default as a result of its starting population, and it manages to feel both cosy and vast at the same time. By having only the bare minimum of safe places within the levels themselves (which are dangerous from the word go), The Nexus inherently has more value than in DS2 onwards because it feels like the only place you're actually safe. That's why the teleporting doesn't work against it, because it's a reward instead of a crutch. And, of course, there's this: