Ah, Xenogears. I can't comment much of it. In fact, of the whole series, I've only played Xenoblade Chronicles X.
That said, I've always found intriguing the whole original idea the creator of Xenogears had. This 6-episode epic. Xenogears is supposedly Episode 5, with the Xenosaga Trilogy as Episodes 1-3. Then supposedly the Torna DLC of Xenoblade Chronicles 2 has a lot of the ideas that Episode 4 was going to be or something.
The whole thing is more complicated than that, I currently don't remember all the details. Either way, from the sounds of it, it's a bit of a shame that original idea didn't got realized. Though I suppose stuff like that happens, unfortunately.