Thinking about it, I have an idea for how to give Toro a unique, fitting game.
It would be a combination of 3D Crash Bandicoot-style platformer, but the combat is handled like an SRPG. There would be no grid during battle, and the battlefields would require platforming to navigate. With limited movement on each character's turn, you'd need to be able to use the platforming skills you master while moving around the world to properly position yourself. Messing up a jump could force you to dynamically rethink your strategy, as you were unable to reach your desired tactical position. Your party would always have Toro, Kuro, and one of other animal friends, and then a fourth party member that was a guest from another PlayStation game with some unique mechanics. Actual combat would be handled something like Valkyria Chronicles, although with much expanded melee options. The story would be Toro going about his daily activities while crazy things pop up try and stop him.