Not recent but Dark Messiah of Might and Magic (2006).
I really liked it, but it took me a few days and a couple of sessions (longer each time) to finally get the hang of it and start to appreciate it. I never liked it when I first tried playing it to be honest, but I convinced myself to keep trying, good thing I did. I haven't completed it more than one time though, but I really did liked the entire play-through, and good voice acting, in my opinion. The story wasn't exactly good (not bad either), but I'm mostly thinking of the game-play itself which is what I liked, especially the physics back then, since I had only played Half-Life 2 with similar physics prior to Dark Messiah.
If I think of a more recent game... hmmmm... kinda tough. I was about to mention Prey, but that was also in 2006 so not really more recent. Not that Prey "failed" either, it wasn't a commercial success from what I recall, but generally speaking the critics were favorable. Its multi-player part died pretty fast though, but anyway I liked Prey, especially the first thirty minutes or so, very well done and the atmosphere was great, and the music (Jeremy Soule composed hours of music for Prey). It was recently put back under the light due to Prey 2, but otherwise usually most gamers don't mention Prey, it's been almost forgotten by now. It wasn't jaw-dropping nor revolutionary, but that whole "turn the map around" and accessing another plane to defeat foes was kinda fresh at the time although not exactly new. I liked the story though, and mostly the story-telling, the way it unfolded, well done.
Other than that I can't think of an underrated (or say... under appreciated) game from maybe 2008 and beyond, at least not by heart. Usually the more recent in years I go and the more the underrated games really are underrated for good reasons. I'm thinking about DLCs if I dig within more recent years, but that wouldn't really count as an actual game obviously. But there's plenty of so called "failed" DLCs that I ended up really liking, but were generally underrated or simply hated. One example I think of is DAO's Leliana DLC, which most players I discussed with about it never liked it, but I shrug and just wonder why. I thought it was well done, but very short, that's the only down side to it.
I'd have to think about this a bit more but right now I'm just sharing some thoughts based on what I can recall by heart.