Been playing through Lagrange Point and recently completed Esper Dream 2.
I highly recommend Esper Dream 2 and the fan translation for anyone looking for an action RPG who has already exhausted the usual options (Crystalis, Zelda, Radia Senki). It's got some lovely sprites and graphics, great music (VRC6 chip), and an interesting scenario where you go through several worlds based on books in a library - a port town, a mountain and Japanese castle area, a train that travels through time, and the inside of a giant blast furnace where all the NPCs are screws and screwdrivers.
Lagrange Point, well we all know how AMAZING the soundtrack is. I wanted to play the game because I love sci-fi RPGs and games with great music, and it's extremely inspired by my favorite game series of all time (Phantasy Star). While I do like Lagrange Point... it's a bit of a drag due to the really high encounter rate and the fact that every attack consumes BP (basically, MP). It's a resource management style RPG taken to its very extreme. Dungeons are short and not too confusing, the world map is quite large (and difficult to figure out where to go next unless you're using a guide, the second half of the game is pretty nonlinear) but the encounter rate grates. There's also a weapon fusion system that you will need to master to get anywhere, it's actually pretty innovative for a game from this era. I'm up to the final dungeon and expect to beat it later this weekend.
