Ooh, Tales of the Abyss! You're right, that does take me back.
The Tales series is great, I feel it's a right of passage for a JRPG fan to try it at some point. I often joke that Final Fantasy is trying to hide the anime within. Tales is 100% anime and proud of it. I've recently replayed one of the games and I realized it literally felt like watching a season of anime. Or three. These are long games.
It's all there. From serious storylines about saving the world, often with pretty nasty stuff happening before you get there, to fixing someone's roof, learning that your pal may be a great and honorable knight and a valuable asset in battle, but he can't put together an edible sandwich to save his life, to going around the world in search of a rare piece of ancient technology...which you then trade to some random guy for swimsuits for your female party members.
Battle gameplay is where the Tales series probably distinguishes itself the most, and the style just might fit you, personally, TBH, because the battles have heavy elements of fighting games. It's all in real time, you control one character at a time, but you have total control over them. Several forms of basic attacks, dodging, blocking, running around to get a better position, comboing, you can do all that. It's still a JRPG so you have a party with you, they're just on AI. You can choose which character to control to try different playstyles, you can issue commands to your AI party members, or you can have a friend come over and let them play one of the other charcaters. That's right, multiplayer, baby! =)