Dragon Valor hidden gem among PS1 games made by Namco in 1999. It is an action RPG with platform and hack n' slash elements. With its simple yet surprisingly rich combat mechanism, great boss battles and wonderful soundtrack, the game offers an enjoyable experience that I highly recommend to anyone. On top of this, there are three different story routes depending on certain choices that the player makes during the first chapters, making for plenty of content and lots of fun.
I invite you to check the following youtube videos where I speedrun through the boss fights in Dragon Valor with the added condition of "Taking no damage", displaying some crazy strategies and cool moves: