Closest thing i can think of is FFTA2 (possibly FFTA, wouldn't know, never played it), their overworld was a point-and-click affair, but if something existed on the path between you and where you wanted to go, you would have to confront it (special set of monsters, rival clan, potential new clan member, etc.)

Shining Force 2 does it almost exactly like you want. Random battles can only occur when going into certain areas, but there is definatly a lot of exploring. Tactics Ogre, Final Fantasy Tactics, and FFTA/2 have it to some extent as well. The world exploring in those is pretty poor, but there are random battles.

The reason you don't see it very often is because it gets boring. Random battles can take forever in a SRPG and that really kills the flow of the game. I don't know why they don't do the exploring bit more often though. I love it in the Shining Force series.

Ask Kasz, but I can't think of any.

I think it's basically because most times in SRPG's the fights last longer so you don't have as many fights, therefore it would be difficult to have an overworld with monsters you can touch and fight since every fight takes like 10 minutes instead of 2 like in most Turn or Action based RPGs.

You could have less monsters in the overworld perhaps to make it even, but the fun of SRPG's is that every fight is new and different, and they are all important.

In VC there is no required grinding, every fight is story driven, kind of like every battle being a boss battle.

 Thats what the Final Fantay Tactics and Advanced lines do. You only get a handful of people so you only fight a handful of enemies. But that is not as fun as having a huge epic field of people to slaughter and figuring out how to slowly pick off the enemy so you don't get completely overwhelmed and crushed. The heart of SRPGs fan base are strategy freaks (surprise!) so smaller battles just aren't as appealing. Why so curious about it?

NB: The entire Shining Force series followed the formula up until Sega left the hardware market. So any shining force made before the Dreamcast was released will give you what you want, and 2 of them are on the VC. I just think SF2 is the best.

Arc the Lad Twilight of the Spirits (PS2) has exploration like any JRPG, but the battles are tactic based. Maybe you should take a look at it. I thought it was a decent game, certainly not the best, but maybe it's worth a play