I would really suggest getting Grandia 2 for the PS2 (if it even exists anymore). Great story, good voice acting (voice acting in Star Ocean 3 was probably some of the worse I've ever heard), great characters that you would want to see what happens to them at the end, and an ending that actually gives you a closure, as opposed to most RPG's today. Also the fighting system is very good, kinda like a tactics RPG.
It is honestly my favorite RPG of all time.
Edit: Oh, plus the game has a very good musical score as well.
Boss music:
Final Boss music: