Normally I would recommend SMT, but of this list I feel that Grandia, Breath of Fire, and Lunar would be better choices for your tastes. The games all have quirky and interesting characters, especially Lunar and Breath of Fire. I've only ever played the first Grandia, and while I never cared for the characters or story, that's my taste and honestly the game almost plays like an ode to classic JRPG plots which can be pretty fun. I need to replay it myself so I can see if I've mellowed out since the old days.

I honestly enjoyed all of the BoF games, with the first game being my least favorite simply because the game is a bit too simplistic but starting with BoFII the series amped up the story and character department and combined it with more quirky gameplay.

Lunar is a pretty straightforward series gameplay-wise but has fantastic characters, which is why I've always liked the first two games. If you can play the PS1 ports, I highly recommend them as the later ports always felt off. Also avoid the handheld entries...

If you need me to give you a quick story overview or the games I can.