Like five or so other people have recommended, you absolutely need some Ys VIII in your life. Absolutely stellar Action-RPG with a compelling nest of systems and almost Zelda-esque exploration.
Also, don't sleep on the Valkyria Chronicles games. The first one is $20 on the eshop and is one of the best games on the system, along with Valkyria Chronicles 4.
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Topic: Lengthy, fun, RPG & Action-y games.
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