Here are few gems in PS1 and PS2
Grandia - Doesn't have great story, but interesting story which is fairly light-hearted compared to most RPGs out there. Has one of the best battle system in the genre, and has nice charm with the visuals unlike 3D sequels.
Lunar 1 and 2 - Remakes, but aged well even without fancy graphics. Another light-hearted RPG.
Final Fantasy VII - Perhaps most famous RPG of all time, and best recieved RPG of all time, and all for good reason.
Xenogears - Unfortunately, this game is incompleted game, but still worthy of praise
Shadow Hearts series - rather unknown RPG series, but very unique game as it is based on modern era. Starting with Koudelka, this is excellent RPG series
Suikoden series - It has ups and downs, but first, 2nd, and fifth installments belongs among the best.
Final Fantasy Tactics - the story is among the best.
Persona - Very unique game, and it's not for everyone, but it's worth mentioning
Breath of Fire IV - Unfortunately, this one went under the radar thanks to unimpressive Breath of Fire III. Breath of Fire III ended up being in Shadow of Final Fantasy VII and the game itself was overrated by many reviewers, which easily set the franchise up for major disappointment. Breath of Fire IV has good pacing, interesting level design, interesting story, and good character design and should be more appreciated.
Vagrant Story - Tad overrated, getting perfect scores in Famitsu. Excellent game, but on short side. Very good visual presentation which still looks impressive, even in HD era, thanks to excellent directing of Matsuno.
Final Fantasy X-2 - I hate how this game gets major bashing because fans are disappointed thanks to their set expectation and is unable to see it for what it is. FFX-2 is supposed to be more of Doushinji. More of fan fiction, which is why the game had multiple endings and non-linear gameplay.
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