Phantasy Star series (specifically IV as mentioned by op) and Lufia series (specifically II). Lufia II and PS IV were and always will be my favorite RPGs.
YouTube - The Prophet: Lufia 2 Music YouTube - Lufia II - For the Savior
End of Lufia II (long) with great use of music. Play it or read the synopsis off wiki if you plan on reading the characters' text and really want the feel.
YouTube - Lufia 2: RotS (SNES) Ending - part 1 of 3
And now I need to replay Lufia II. Goodbye, first week of summer.