As one who's crazy about metroidvania - that's the genre you're looking for - games...
Look for:
-Bunny Must Die (PC, indie, Japanese but has an English translation ), is kind of hard, but not crazily so.
-Shaman King and The Nightmare Before Christmas ( both for GBA ) are exactly like the GBA Castlevania games.
-Monster Tale ( DS ) is pretty good, too.
-Iconoclasts ( PC, indie ), which is still being made, is shaping up to be really good.
Also, I'm sure someone out there must've made a Terraria dungeon that works exactly like a metroidvania game.
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