Yes, but also kind of different (think they mentioned it in the Easy Allies talk).
Unlike previous From Software games, which had fairly linear maps (while complex with shortcuts and tying the map together), Sekiro has much larger open areas that can be traversed differently. The hunters in Bloodborne were in your way at certain points in the progression. You couldn't really skip them. In Sekiro you can skip enemies and find alternate paths to the bosses so you can skip minibosses (at least some). However, you do want to kill them since they offer skillups \ upgrades you won't get without killing them.
I think I will probably end up missing far more content on the first playthrough of this game compared to Souls \ Bloodborne. The use of the Z axis changes so much and it sounds fantastic.
That said, the exploration aspect of the From Software games is what I find fun, and what I kind of worry most about with Sekiro. In Souls \ Bloodborne exploration was rewarded with weapons\armor\items. Items being the "worst" loot. I don't think there are new weapons or armor sets in Sekiro. Just upgrades to the arm. I'm sure it'll be fine, but just sounds like there is more to explore, but possibly less to find.