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I was looking to play a game I played when I was younger, but I can't remember the name or too much about the game.

The main character is a Ninja.
It has an overworld to travel on.
Whenever you went to a castle, you had options to infiltrate or perform reconnaissance.
If you chose either option, I remember a cut scene to where it showed the wall of the castle, and your character trying to climb up.
The game is on the NES.

Does this sound familiar to anyone?