If you haven't played Xenogears, regardless of what next-gen RPGs you are mission out on, get it. Play it. It's better than a breakfast consisting of 4 fried sausages, 6 rashers of bacon, grilled to perfection, 4 potato waffles, half a can of beans and a bowl of Crunchy Nut Cornflakes to finish.
Grandia 2 is an easy RPG, much like FF8 and 9. 10 is also easy if you let yourself unlock damage limit.
Xenogears is quite hard throughout, and I'm sure you will enjoy.
Further to that, Chrono Trigger on the SNES and FF6 are always good. FF4j is a supremely hard RPG too.