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Any Final Fantasy or Zelda game deserves a mention but a few have already been brought up so I'll avoid those and pick,

Dragon Quest VIII
Filgaia forever!
Star Ocean forever!
Any overworld theme from Skies of Arcadia is amazing, here is one
The Mana games have great overworld music too
 
And good old Breath of Fire 3, this just makes me feel great! Some may say it's elevator music, all I can say is I wish I knew an elevator that played this.
There are plenty of other greats like the DKC games, Tales of, Golden Sun, Metroid the list goes on and on and on....