I probably only played the demo of 1999's Drakan: Order of the Flame, but it's one of those janky games that lives in my head rent free. Tomb Raider with dragons just makes sense. Anyway this is my shitty attempt at doing something like that over a couple of weekends.
When I started trying to make the dragon work I was really over-complicating it, until it dawned on me that I should just use KCC for everything, and that worked out pretty well!
You can hop on the dragon and fly about, shoot janky fireballs that don't travel fast enough, and then land and gallop around or jump off and play "BoTW at home" (I tried to get BoTW style climbing working... with mixed results).