Skies of Arcadia (2000)

Sailing an airship towards a suspicious speck on the horizon makes discovery feel like an adventure you chose, while the upbeat crew gives the journey generous company. This was a Dreamcast RPG before the expanded GameCube release, Legends, which adds quests and other material. Those are distinct legacy editions, not interchangeable labels for a current remaster. Random battles and lengthy combat can interrupt the exploring, so choose it for a patient voyage; the sky-ship battles and discoveries supply the reason to stay.