gogamess: Never's too late for good old games! ^_^
I can't recommend you any Sega Genesis game, because I never played it, but I think it had some good classic RPG's ^_^
If you're looking for Sega Genesis RPGs, Phantasy Star 4 is probably the best choice.
There's also:
Phantasy Star 2 and 3 (both these games have significant flaws, but at least they're *different* significant flaws)
Shining in the Darkness (first person dungeon crawler, but with a fixed party (no character creation))
Shining Force 1 and 2 (strategy RPGs, like Fire Emblem, but with non-combat exploration and the ability to retreat from a battle, keeping the EXP (allowing you to power level if you feel like it))
Fatal Labyrinth (roguelike)
In terms of games that don't *quite* meet my (strict) definition of RPG, but come really close, there's:
Sword of Vermilion (overhead view towns/overworld, 1st person dungeons, random battles that play more like an action game (think Star Ocean, but more primitive and only one character), boss battles that play like an action game, but different from random battles (spells not usable at all in them, for example).
These are at least the ones I am aware of. There's also Cadash (2d action game with significant RPG elements), but that game is an arcade port, and if you don't mind having a time limit, the arcade version is superior (more classes, for example).
(By the way, did you ever get around to trying Paladin's Quest (SNES)?)