I dunno... I've played an obscene amount of Fallout 3 and well over 200 hours of Skyrim and I don't think Skyrim fares too badly in those aspects tbh.
Like the skeleton with the pill bottles, the unspoken story thing.
Skyrim has plenty of those, the dude crushed by the rock, the guy in the mines evidently forced into labor.
Nearly every dungeon has some "character" to it, I agree that some of the inns feel a little samey but meh, they're inns, what do you want... plus they are all very different in the main cities.
In certain aspects, such as random campers with a bed in the middle of nowhere, completely unmarked. Excellent for roleplaying and I wish Skyrim had something like this.
Skyrim has loads of this stuff man!
You specifically mention campers, but in Skyrim there are unmarked camps aplenty, abandoned shacks, ruins (not dungeons).
Maybe I'm wrong, it's been a while since I played FO3 but I really don't remember it being substantially more detailed in that way.
I think New Vegas blows both of them out of the water though,
that's how you make an immersive, detailed game Bethesda, take note.