I played it for some time back when I had my PS2.

Don’t remember well the details, but basically I found it lackluster and repetitive as a 3rd person shooter, and not that deep as an RPG in terms of character/equipment customization. Overall, it leaves to be desired.

As to the lore, up to where I stopped playing, there wasn’t much that tied it to the main games, and looked like just a “gaiden” game, but don’t trust my memory.

Ultimately, I ended up getting bored partway through. Some people may find it fun. I guess it’s just not for me.