What are the best modern 3D TPP JRPGs with robust progression/customization, party relationships and interesting exploration?

Like in the title - Looking for modern (up to 10 years old) 3D JRPGs (so no Octopath etc) with actual skill customization/character progression with a lot of different possible builds, preferably where not only skill or class dictates the build, but also the equipment worn, probably only turn-based, I don't really like action combat in JRPGs, unless it's really good. Also need it to not be a "hallway" simulator like FF13, so a lot of different hiddens zones/paths etc.

Preferably want it to be targeted a bit more towards mature audience, DQXI was a bit too childish for me. Need it be well written.

Currently playing Clair Obscur (it's perfect IMO) and Romancing SaGa 2 Remake (I guess it's good, but like CO's story more and here it's hard to take deaths seriously because of the artstyle, also character progression so far seems way too basic and linear).

Only JRPGs I completed were Shadow Hearts 1 & 2 so far.

Only PC/PS3/SWITCH