Birthright: Gorgon's Alliance
You directly control your party in dungeon crawling missions tho, with mm6-like controls.
In fact, Birthright is the only example of high-level RPG adventuring done right. Detect treasure - teleport - teleport - teleport - kill boss - teleport out. No walls made of antiteleportine and treasures stored in fields of undetectium because something something muh balinse something.
Anytime I am reminded of this game, I think of Sawyer smearing tears of impotent raeg on the other side of the screen. Always makes me smile.