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Oh man, you're going to LOVE Castlevania.

I still need to play a bunch, but I can recommend the following:

Aria of Sorrow - this is my favorite, and the first game in the series set in the future. The customization options are great, the boss battles are spectacular, and the visuals crisp and clean. In fact, you can't go wrong with any of the Castlevania games on GBA, including Circle of the Moon and Harmony of Dissonance.

Portrait of Ruin - it might not be the best DS Castlevania, but the dual character mechanic is a lot of fun.

Rondo of Blood - before Symphony of the Night changed the Castlevania formula, Rondo of Blood mastered the old formula. Branching paths, thrilling boss fights, careful platforming, etc. The opening scene on a horse-drawn wagon is just jaw-dropping.

Castlevania 64 - I'm serious! It's good! Good story, larger-than-life boss fights, a huge world to explore. Definitely a hidden gem of the series.

Symphony of the Night - the seminal Castlevania game, after the original of course. Transitioned the game from an action platform game into something of an action RPG. This game is legendary and with good reason. An all-time great hero - Alucard - plus tons of secrets and Easter eggs, puzzles and riddles, and amazing enemy encounters.

Good luck!