I don't mind arms, but yeah, it's really just sub-par in every area.

Were as Disgaea is pretty rad, though I dislike the Geo-panels, if only because quite a few areas just feel like a giant puzzle game more then an SRPG because of it, at least in 3
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And it's funny as hell. Mao and Champloo are made of win and awesome sauce.

Though if you happen to see Makai Kingdom and have a PS2 available, or a PS3 with Backwards compatibility, it's the superior option as Overlord Zetta is what all bad asses should aspire to be.