Arc Rise Fantasia is honestly one of the most innovative battle system I've ever played in any turn based RPGs, and I'm miffed there aren't any others that copied this game since its release.
It has everything I want to be improved in ancient traditional JRPGs: shared action points between player and enemy, boss battles are literally hard as sin in general yet also tactically fair and not being a boring damage sponge endurance, they also can be made a bit easier by overleveling grinding mob encounters if you don't mind the timewasting as well.
Grandia series have already raised expectations for turn based RPGs, but Arc Rise Fantasia is when I placed my standards way higher because it's just THAT good a game.