I liked A Wonderful Life quite a bit actually, but that's just me.
Wild Arms 3.
I don't know if its the best or just pretty ok, but it had a really freaking memorable song for me that I couldn't find the name of for ages until last yearish.
No. Seriously. You must play this game. I love WA 3, the setting was perfect. 1 was my favorite, though. And that song gave me a nostalgiagasm.
I could list PS2 games all existence so I'll say I double-recommend all the titles I've seen so far with a couple more suggestions:
Romance of the Three Kingdoms 8 RPG/Strategy, one of my favorite games that I still happen to own for PS2. 9 is alright, but very different as you can't be
any officer you wish, only a ruler. Has an extreme amount of replayability to me but I'm a history and strategy buff so it's not quite everyone's type.
Way of The Samurai Action RPG, open and your decisions actually affect how things turn out. I cannot recommend this game more. The 2nd one is also very, very good. Hard as all hell, too. Also has a limited type of permadeath with even harder difficulty settings to unlock, but good luck with that. Barely managed to beat this on normal.
Drakengard Alright, I'm going to admit there's very few times in an RPG where I'll be driven to nearly cry. This is one of them. Drakengard was and still is one of my favorite Action RPGs. Seriously. You go buy it now and tell me it isn't incredible. 2nd one is more kiddy but still alright. I wholeheartedly recommend 1, though, especially if you're into Mature RPGs.
Front Mission 4&5 Mech RPG badassery. Writing is a bit to be desired compared to a title like FM3 but they're still solid, good games.
Dark Cloud [yeah I know this isn't a new one but I'm listing it again because it is so notable] You need to play this if you haven't. One of the first games I bought for my PS2 and never regretted it. In depth, solid, very fun RPG.
I feel old. I get nostalgia thinking of the old RPGs I've played.