Arc the Lad: Twilight of the Spirits

Tactical RPG with two parallel storylines set in a world split between humans and Deimos. You alternate between Kharg, a human noble seeking revenge against Deimos, and Darc, a Deimos slave who wants to unite his people. Both races depend on Spirit Stones to maintain balance, but a human army's conquest threatens everything. Combat uses free-positioning tactics on a field—move characters anywhere within range, no grid restrictions. You control up to six fighters at once. Between battles, you explore towns and dungeons like a standard JRPG. Characters learn special attacks by spending SP earned in combat. The chapter structure switches between heroes, each building their own party. Eventually the separate paths converge as circumstances force cooperation. If you want tactical combat that doesn't dominate the entire experience, this splits the difference.