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The games that came straight to mind were:

Mass Effect 2 (the score that accompanies the suicide mission in particular)
Mass Effect 3 (not really epic so much as it is haunting)

Elder Scrolls: Morrowind, Oblivion & Skyrim (Jeremy Soule's various different tracks and remixes with each entry in the Elder Scrolls series just fit perfectly with the mood of each game)

Final Fantasy VI, VII, VIII, X (the tracks in each of these games really stick in my mind and every time I hear the soundtrack it immediately conjures up the emotions of each one)

Shadow of the Colossus (I could be doing housework and the OST would still make me feel like an hero in a epic odyssey)