Iron Brigade http://www.gamespot.com/iron-brigade/
this game had an interesting but i wouldnt say epic story - if anything it was quite simple story. But it does have co-op, but I never played it with co-op, just by myself and I played the 360 version so I can't comment on if the PC version has any flaws.
I'd say Starcraft 1 and 2 are both pretty epic and complicated storys, but they have no campaign co-op... and they are RTS so they may not be your thing.
All the Halo games have had co-op i think, but the PC ports are crap so i can't say play them, plus the storylines are epic overall but very vague and confusing trying to understand them from just playing through the games without future research on them from the books, but theres no doubt u have likely played at least one of these games.
Mass Effect, no co-op that i can think of but has a good storyline and epic feel and has PC versions.
thats all i can think of right now
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