Just out of curiosity, have you played Chrono Trigger and Cross and Final Fantasy XII? None of them have random encounters, though in the case of Cross you still have to transition to some battle screen to fight enemies. In FFXII's case, there is no transition whatsoever and they are on the field. FFXIII also has no random encounters but that game is divisive for good reasons.
Bravely Default allows you to turn random encounters completely off whenever you want. You're still going to have to fight them, as you need to level up, but if you just want to say "fuck it, I want to look around this dungeon without fighting anything", you can do that. Segregate your fighting and your exploring. When playing this game, I usually listen to my own music while fighting through a dungeon, then turn off random encounters and go back through it for anything I might have missed - treasure, secrets, and so on. I don't know if you find that acceptable or not.
Like Chrono Cross, Radiant Historia represents its encounters with an enemy onscreen that you touch. Tales of Symphonia also does this. As I've mentioned before, Shin Megami Tensei IV doesn't randomly place you in a battle but dangerous areas are teeming with enemies that are often not easy or impossible to get away from.
Xenoblade Chronicles has no random encounters either.
All of these are pretty good JRPG's that are worth looking into if you like JRPG's but don't want to deal with traditional random encounters. I'm sure there are more if you want to research JRPG's without random encounters.
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