I'm with you. Symphony of the Night was probably the best one out there. The voices weren't the greatest (it WAS an earlier PS1 game), but the game was awesome, taking a good 8-10 hours to find everything, even if you've played it already.
Lament of Innocence was alright, but it was more limited on what you could do, since you didn't get the same upgrades.
Curse of Darkness was plain awesome, with the ability to mount onto certain weapons and use them. Also, you had Familiars again, which served to open chests and press buttons high on walls, in order to help you advance further.
Despite this though, Symphony of the Night is still the best one.