Definitely
Lufia 2: Rise of the Sinistrals for the SNES.
Lufia 2 is set in some sort of mixed fantasy, middle age, early modern era, whatever that is?

The story may be lacking a bit of depth; I won't ruin it for you, but regardless, the characters were still enjoyable, and never annoying from memory.
You set off on a solo adventure until you’re slowly accompanied by more people and then pretty soon you’ve got yourself a party. You later get a sea ship, later which can be turned into an air ship/blimp, and then
also a submarine (there’s a whole other world under water to explore.)

Lufia 2 is abundant with adventure; it’s a fairly long game for a JRPG; just when you think it’s over, it keeps on going.
Lufia 2 is also loaded with side quests and mini games. Stuff that comes to memory:
There’s a games island with a casino where you can play a few different card games, and win some really lethal weapons. There’s also a shop on that games island where you can purchase anything you’ve ever sold in the game.
There’s an optional dungeon that has a 100 floors (really freaking hard from memory.)
There’s an egg hunting quest that allows you to have 1 wish granted by a dragon once you’ve collected all the dragons’ eggs using this sonar device… Very Dragonball-esque now that I think about it!
There are about 8 of these Pet Monsters all around the world that you collect during your adventures. They fight by your side in battle and have the ability to evolve and thus become stronger. Some of them are lethal and offer real aid in battle.
Note this game was released long before Pokemon. 
The dungeons are nicely balanced in Lufia 2, full of many different puzzles and foes that make for both action packed and mentally challenging game play, but with the advantage that all the foes are physically visible and need to be physically encountered in order to enter into a battle with them, so they can often (but not always) be avoided if you just want to get through the dungeon. However, if you want to power level, random encounters occur on the world map.
If you’re someone who is able to get past the old SNES graphics, and you’re into that whole generation of RPG’s, I’d definitely recommend you give
Lufia 2: Rise of the Sinistrals a go.
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