Star Ocean games are ok, the "class system" there is more the difference between ranged/unranged but you can take control of things also til the ends of time is excellently made for ps2.

Other than that I suggest Suidoken III or Suidoken IV, III will be hard to find and never actually got a uk release date IV is naval based where the main character is a sailor and you end up running around the world map with a fleet of ships and there are 3 types of battle: Naval (works as strategy you choose your ships crew and take out the enemy simple enough), Party (your party kicks some ass together 4 v xxx theres combinations of party members which allows you to get special attacks to build up over time) and Duel (where you go mano a mano with the enemy and kick their backside alone). Heres the other "OMG WTF" thing with Suidoken..."108 stars of destiny" each star in IV is a character that you can recruit, not all of them are combatants but I think theres atleast 15 - 20 combatant characters some however are needed for different side quests or even just to make ships tougher in naval combat. You can also customise your ships too to make their range longer, their hulls stronger ect ect.

So yeah if you won't want to play GW which is awesome btw I do play it and am looking to get a new guild. My recommendation is Suidoken and Star Ocean and not to mention Breath of Fire IV especially (old ps1) but I suppose Dragon Quarter isn't that bad. Also Dark Cloud and Dark Chronicle.