I don't know if you'll find a game amongst these with heavy characterization and plot like an SRPG, but Crusader Kings II kinda hits that mark since it's essentially a game all about characters. You're scheming and plotting against your vassals, your liege lord, your uncles, mercenary captains, and your own councillors, all the while they're doing the same thing against you and against eachother. It's probably the best exemplar of emergent narrative in gaming yet.