It's just a matter of taste since there are way too many PS2 RPGS to be able to buy them all (Not to mention that some of them are crappy/hard to find.) But these are ones that I reccommend.
FFX - Gripping story, lovable characters, and a battle system that brings strategy to the Turn-based battle system. The Sphere Grid brought massive amount of customization to your characters. The only major gripe that I have about the game is the fact that it's linear. You don't get to stray off to do sidequests and such till the very end of the game. Did I mention that it's 40+ hours? With a cost of only $20, there is no reason to pick up this masterpiece.
Champions of Norrath - Put the forgettable story aside and you have a game that took the fun of "Baldurs Gate: Dark Alliance" and reworked and polished it until it shined even more than before. The action takes steps away from the button-mashing of other dungeon crawlers and brings more strategy into the genre. With the different strategies required for many of the enemies, and the huge amount of spells and items collect, the game constantly changes over time. Highly recommended if you have friends that you could play this game with since it's not as enjoyable single player.
Shin Megami Tensei: Nocturne - The great thing about Shin Megami Tensei: Nocturne is that it's deceptively deep in scope. At first, without any access to menus, it seems almost basic; a straightforward turn-based RPG with dark themes and cool music. But the farther you explore (and once you can check your character's stats out), the more it becomes apparent that the game really offers more than you'd expect. With a Mature storyline that doesn't exactly rely on gore, bad language, and sexual themes (Even though there are instances of all of those) to make it "Mature" and a "Pokemon meets Crack" monster raising system I'm sure this make will make some decent controvery somewhere along the lines. Get it before it gets banned.

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