Video Game Recommendation?

I need a recommendation for a good video game! So, first off, here are the systems I have: every Nintendo system except the Wii U (I'll be getting one at Christmas though), A PS2 (and therefore PS1) and a PS3. I have a PC too, but it's not really that great for gaming, so I'd rather leave that out of it. Oh, I also have a PSP.

So the kind of game I'm looking for is the kind that's got A) a lot of lore and B) a lot of gameplay/hours. I don't really like the kind where the ending is sad and everybody dies, but I can handle one or two character deaths...(although I'd rather not lol) I hate it when a game rich with lore ends too quickly, so please point me to one that lasts for a while. Also, I'd like it to be fun, and not just a constant ball of angst...I mean, that sort of thing certainly has its place, there wouldn't be much conflict without it, but I hate it when it's just /all/ the time.

Similar games meeting this criteria I have/like: Legend of Zelda series, Okami, Kingdom Hearts, Arc Rise Fantasia (though it's not the longest of games), Final Fantasy series, and the Xenoblade Chronicles...that kind of thing.

Thanks in advance!