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Going back to PS1 days I believe the Alundra games, which had a distinct Zelda vibe, had no random battles, but I could be wrong on that one.
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Alundra did indeed have no random monsters and was a lot like Zelda. It was wicked difficult too, awesome game.
Again, not PS games but there were no random battles in the Knights of the Old Republic games or Mass Effect.
Also, how could you ever consider Shadow of the Colossus to be an rpg? It's an action platformy game, out and out. The only element of character development is an increasing health/grip bar. It's no more an rpg than the Tomb Raider games were, less so in fact as at least you find new weapons in those as you progress.
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