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Of the RPG Castlevanias, Aria Of Sorrow is clearly the best.
The castle is laid out the best way, the gameplay is the most fun and well controlling, there's a death of varying equipment for all kinds of approaches, the bestiary is varied and posits some decent challenge (particularly on hard mode) the music and sound is exquisite, and the graphics are some of the best ever put on the Gameboy Advance.
Everything about this game looks, sounds, and feels good.