Tales of Eternia, the original Tales of Destiny (I have not played the remake for PS2, but I have read that it is excellent and even better than the original), Tales of the Abyss, all three .hack//G.U. games, the first Parasite Eve, and both Shenmues are great RPGs.
One RPG I would recommend people stay away from is Eternal Sonata. Sure, the battle system is good and the music is superb (Chopin was a great composer), but it has a poor story and an awful cast of characters. I sold my copy as soon as I was finished playing through the game.