Yes, There Are Dark Souls Enemies In Elden Ring: Nightreign
Briefly

Elden Ring: Nightreign will feature enemies from Dark Souls, as confirmed by director Junya Ishizaki, creating a nostalgic interaction for players familiar with the franchise.
The game will not be a live-service title and will be priced similarly to the Shadow of the Erdtree expansion, launching at around $40.
Elden Ring: Nightreign will embrace roguelike elements with a cyclical gameplay mechanic, allowing players to have unique experiences while retaining the memory of prior runs.
Despite featuring multiplayer survival aspects, there will be no cross-play functionality, though generational play will be enabled between PS4 and PS5.
Read at GameSpot
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