People often mention SaGa frontier and Saga 2 on the GB/DS as good starting points.
They tend to be less focused in story and more concerned with open ended gameplay and character growth.
depending of the game you have no levels, no random battles, grinding can bite you in the ass, HP gets restored after each battle but you have to worry about LP, multiple character routes, races that progress differently from humans, you pick the one that looks more interesting and try to figure out how it works as you play