How to get soft lighting and shadows like this?

Hi,

Does anyone know how to get soft lighting and shadows like this? I want it for a game using low poly meshes (so needs to render at 30-60 fps).

I find to get soft lighting I have to play with sky atmosphere or height fog but it then looks too hazy. I really like this style though as it’s bright and vibrant with super soft shadows.

Looking for tips! thanks!