My favourite battle system of all time:
Secret of Mana
The real-time (or pausable real-time) combat system in this game was incredibly fun and addictive, combining the fast-paced fun of a beat 'em up brawler (or fighting game) with the deep mechanics of a role-playing game, almost like Final Fantasy's Active Time Battle system adapted into a fully real-time hack & slash combat system. On top of that, it allowed up to three players to play together cooperatively, with the second and third players able to drop in and out of the game at any time, again like a beat 'em up.
While there have been plenty of great battle systems since, no RPG since has had me keep coming back to experience a game's battle system over and over again the way Secret of Mana has. This game, for me, is the 'magnum opus' of action RPG battle systems.
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