A bit strange now that I think about it, the Souls games (and bloodborne) rank themselves according to release.
I find Demon's souls hardest, and Dark Souls 3 as the easiest. Which might have a lot to do with the faster possible player responce, and speed afforded to the player.
Some I would argue is due to level and trap design, Demon's could be downright cheap at times, and so could DS1. But those two I would call hardest, as you are far slowest, and has less help then the rest of the games, technical issues none withstanding (only in a souls game is lag a feature).
DS2 potentially has more frustrating bosses, but plenty of healing and items that makes sure that any penalties for failing getting very high, the level design changes in DS2 as well, going for simpler, more "gaming levels" and less "deathtrap because I hate you"
Bloodborne and DS3, I find easiest, which is very tightly linked with the movement speed you have. Gone are cumbersome advancements, as we have characters WAYS more agile. Bloodborne lacks shield, but stuns with firearm instead, and a good steady supply of vails, and I found the damage the player can dole out is far higher then the souls games. Technical issues are likely the hardest and most painful part of Bloodborne to this day (blight town level of jank). DS3, while lacking armor upgrades (and almost pointless armor), allows for shield, a good helping of Estus flasks, and a pacing that is closer to Bloodborne then any of the other souls games. Also bosses are much easier (well Frida is a right pain, but otherwise)
So in order of difficulty: Demon's souls ->Dark souls 1 -> Dark Souls 2 -> bloodborne -> Dark souls 3
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