I've always felt as though I'm unable to fully enjoy RPGs. Final Fantasy is one of my favourite series of games, but outside of that it's pretty limited. Undertale was probably the last RPG I played that I liked, mostly because it did something different with the combat system and the puzzle aspects weren't too over the top. I feel the same way about CrossCode, but I would put that game into a different category as it isn't a traditional RPG.
I just don't want to sink a ton of time into a game that is mostly a grind with story elements and payoffs that are few and far between when I could play a different kind of game that is at least continuously stimulating.
My favorite is probably Final Fantasy X. It was one of the first ones I played all the way through; I had traded someone at school a copy of Grand Theft Auto 3 (which I was basically done with) for the game. I think it's world-building and story is really good, the characters are mostly great, and there are lots of moments in the game that stick out to me and are very memorable. I have quibbles with the story in places and I have thought before a change on the story to focus more on Yuna (and have Yuna, rather than Tidus), be the main character would improve the impact of the game's story, but I can also appreciate how it's actually handled as well. I also have a few gameplay quibbles, but they're mostly minor.
Chrono Trigger has a case for being the best RPG ever made, and it's still one of my favorite games ever. The graphics hold up, the story is wonderful, the characters are good, the side-plots are interesting. The dual and triple techs reward experimenting with and mixing up your party from time to time. It's truly a fantastic game.
I haven't finished it, but I am playing Dragon Quest 8 right now. I really like it as a kind of tongue-in-cheek Final Fantasy-esque adventure. It's not too serious with itself, although it has interesting characters and a fair bit of humor baked into it. The main quest is serious enough (A wizard stole a powerful scepter, froze a castle in time, turned the king and princess into a little monster and a horse, respectively, and those two and the MC, a soldier of the castle, are the only people who walked out of there; journey to find the wizard and fix everything), but there's tons of humor and the game is not serious most of the time, making it a kind of fun adventure compared to even my favorite, FFX, where you're miserable half the time (it's not that bad, but things certainly take serious downturns in tone in that game, and probably all the FF's, honestly). I find it very enjoyable, the skills system is neat (where you can distribute points to different skills for characters as they level up, focusing on different weapons and abilities), and the art and music are good.