The original Grandia (PS1) is available for download from PSN. It's set in a more modernized version of your typical warriors-and-monsters RPG world, where people rely on both technology and magic, much like in the Final Fantasy games you mention. I should note, however, that the game world itself does include its share of green hills and ancient ruins like, say, Oblivion, but there's no king or other feudal bigwig commanding you around. The protagonist's goal is simply to explore the world, so he mostly just decides for himself where to go next.
This extensive review should give you a good idea of whether or not Grandia is worth your cash!
This extensive review should give you a good idea of whether or not Grandia is worth your cash!