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One of my all-time favorites. It didn't get nearly the credit it deserved, and it still doesn't. Of course the characters and voice acting are pretty obnoxious, but the gameplay is unmatched. People usually compare it to Zelda, which I don't think is really right. Musashi put a much bigger emphasis on combat and skill development than on exploring and puzzle solving, and those things that it focused on it did far better than any Zelda game. It sounds strange, but if you wanted to compare it to something, I'd pick God of War. The combat system is very similar.

And yeah, the soundtrack is also one of the best ever. Unfortunately the composer, Tsuyoshi Sekito, pretty much dropped off the face of the earth after it was released (he's now one of the guitarists in the Black Mages). But the good news is, he's finally making his return as the composer for The Last Remnant! I'll probably buy that game for that alone.