https://www.gamespot.com/articles/looking-back-on-xenogears-20-years-later/1100-6456814/

Although these it's not mentioned as often today as some of its contemporaries, Xenogears is nevertheless a cult-classic RPG. Released in 1998 for the original PlayStation by the company then known as Squaresoft, Xenogears set the stage for a series of games that continues today, two decades later.