From the Tales series, I'd like to add both Tales of Vesperia and Tales of Berseria:
The game was packed with content, skits and extra events, the chemistry was there and the cast of characters did a really good job at potraying different viewpoints of the games theme, which was "justice" IIRC. Yuri is often praised as a fresh, down to earth and really cool protagonist, but I feel like the game strikes a nice balance between the more down to earth and "lets get shit done" characters and the more idealistic and generally naive ones. Estelle, Karol and Rita each represent different ideas on how to achieve it and are challenged through the game. Each character seems to have flaws they need to overcome, and you can see them growing through the game. Some people complain because Yuri doesn't really grow that much through the game, but he is a driving force in other party member's growth and that's something I really liked about it.
A recent example, and probably one of the best casts I've seen in a JRPG in recent years. Tales of Berseria features a cast of really, really selfish people that have a common enemy that honestly is as bad as them, so they go through empty fields causing problems and trying to destroy the Abby's plans eventhough their attemps could turn a village population into a pack of ravaging monsters that they'd kill on their way back to their ship.
And, despite sharing so little in common with each other, they manage to become closer to each other and form a really engaging ensemble.
Velvet is the absolute stand out in the game. Her character arc advances slow but steady through the game, having a great send off in the last third of the game. She is clearly depicted as emotionally damage person that gets closer and closer to the point of no return as the game advances. And she is not the only one. Being the main character, she is the member of the cast whose story you are exposed the most, but as you progress you start learning about the rest of the cast little by little. The game in general has a really solid writting and knows how to slowly deliver you the information you need to learn about the characters motivations and backgrounds, sometimes in a more serious manner, and others in a more lighthearted and funny one.
Furthermore, the game has some really nice chemistry between characters. The way Laphicet sees Rokurou and Eizen as role models leads never ceases to be funny, in the same way having Eleanor correct Eizen's when he tries to amaze everyone with his (often out of date) knowledge never stops getting old. Characters often clash too, sometimes due to really banal stuff, which adds a nice layer to them. Even Magilou, whose sense of humor is purposefully hit or miss, grows on you after you start piercing her background together.