Pillars of Eternity is a good intro to the genre and will certainly prepare you for the more fiddly aspects of Baldur's Gate and Planescape: Torment. If you like Pillars enough, then go ahead and jump into BG II. The actual game of BG I just isn't fun enough to recommend going back to, and BG II does everything much better. Especially if you include the Throne of Bhaal expansion for it. Ludicrous amounts of time can be spent in that world.
While BG II has the more interesting gameplay, Planescape: Torment has a MUCH better story. The Nameless One's tale is far better written than anything else in cRPGs. In fact, I think the writing in Torment is pretty much the best in all video games. It is an amazing story end to end. The gameplay leaves quite a bit to be desired, but since you can find a number of solutions to most situations you can get by pretty easily. Most combat can be talked out of or bypassed. Play the game for the story not the combat.
BG II is the reverse, combat not the story. I would only go back to Icewind Dale and IWD 2 if you REALLY like the combat and don't feel the need for a main story arc. Those games are basically ALL combat and are fun because you can play an entirely player created party, leading to some insane combinations.
Divinity Original Sin is a great game as well, but because the combat is turn based it loses a lot of the urgent feel that you get with the Real-Time with Pause (RTWP) systems. It isn't bad, I love that game. It is simply different. There is tons of dialog and fun to be had there as well, I just see it as a different thing than the rest of the games.
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