mrcrispy83: Soul Nomad -more like ogre battle games I think (though I haven't played it). Probably the darkest NIS game, particularly the ng+ demon route.
... and arguably the best NIS game of the PS2 era, at least as far as I'm concerned. :)
I believe it's a lesser known NIS title because it has a darker story and a different character design. It really departs from the light hearted, silly and over the top tone of most NIS games, and provides a more "classic" Tactical RPG experience, which may have driven people away from playing. Which is a complete shame, because it's a gem of a game.
It is indeed reminiscent of Ogre Battle games in terms of gameplay, in the sense that you move several groups around on a map and when one of your groups encounter an enemy, you enter a sort of semi-automated skirmish mode. The player needs to put a lot of thought into the formation of each group they send to battle, as well as who to choose as leader. The system is very deep and engaging.
I don't remember now how much you affect the story itself during the main game - I've played Soul Nomad six years ago, and my memory isn't what it used to be :) - but there are plenty of different endings, and indeed, the infamous demon route you can choose on your new game + run (and it's bloody horrible, I couldn't actually play through it xD).(*)
One thing that may be a minor aspect for many players but is a major one for me is the soundtrack and the voice acting: both are superb, and the arranged soundtrack of Soul Nomad is one of my favourites to this day.
Basically, if you're a NIS fan and have never tried this game... give it a shot. Really. It's not your standard quirky NIS fare, but it will definitely deliver. :)
(*) EDIT: I wish to specify that it wasn't horrible as in "bad" (gameplay- or story-wise). It was horrible in the moral sense, and I couldn't go on slaughtering characters I had grown attached to on my first playthrough. You become a sort of Chaotic Evil character (at least from what I've seen of it), and I couldn't stomach it (I'm a teddy bear paladin at heart :) ).