Naruto Storm 1 story mode has you free roaming around the leaf village and you accept little side quest and do regular fights. Storm 2 and 3 still have you walking around the leaf village but it's very linear. You just go down a straight path. Storm 4 if I remember correctly is just straight up fights. I wouldn't say that the Storm games are like Xenoverse. I feel like Xenoverse has more stuff to do.
are they like dragon ball xenoverse type of games?
Edit; Also I just want to point out that if you care about the story then you'll have to start with Storm 1. Because each game takes place roughly where the last one ended.
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