Bahamut Lagoon was essentially the predecessor to Final Fantasy Tactics, it was only released in Japan since it came out right as Nintendo was switching from the SNES to the N64, but there are translated ROMs available.
Kind of a cheesy generic storyline but the mechanics were cool.
Strangely enough, Quest 64 kinda fits your description although you probably played it and hated it. I think I was the only person who liked that game.
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