So is Dark Cloud any good? I've literally never heard of it until now.
It's pretty clunky by today's standards. The game is broken up into six or so areas each with a dungeon to explore. Narrative is pretty simple, broken up mostly as vignettes for each character you recruit in each location. Bit of a dungeon crawler and a bit grindy. Tiny part roguelike. You control one character at a time (can switch at will), each with their own basic combat combo (and I mean basic). A cool city building system. Good music.
edit: Dungeons are randomly generated by floors, like a roguelike.