Saint Paradise: Saikyou no Senshi-tachi

Seitoushi Saint Paradise: Saikyou no Senshitachi (literally translated as "Saint Paradise: the Most Powerful Warriors") is a classic-style RPG based on the manga/anime Saint Seiya (aka Knights of the Zodiac). The story is set in the modern day, but it's a world heavily influenced by Western mythologies, mainly Greek. The game covers the manga story arcs of the Galaxian Wars, the Sanctuary and Poseidon.

You play with a party of four characters: Pegasus Seiya, Cygnus Hyoga, Dragon Shiryu, and Andromeda Shun. Gameplay is classic RPG fare, with an overworld, buildings to enter (that are accessed through the overworld, so no towns here), and random turn-based battles.