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Quite a few games have had an epic feel for me.

Baldur's Gate 1 & 2

Mario 64, not because it's an epic story or anything, but because I felt like I was playing a complete masterpiece that would be remembered forever.

World of Warcraft back in vanilla when raids were 40 players. There was nothing like downing Onyxia or a Molten Core boss for the first time.

Halo Reach for the sheer scope and scale of it. Also, knowing how it ends really added to it's epicness for me.

Plenty of others as well, but those ones stand out.