Yeah, Xenogears has pretty damn excellent music.
This and
this are probably my favorites, but it's easier to just name what I don't like instead of listing like 85% of the soundtrack. I could write a ton more on Mitsuda and why he's easily one of my favorite game composers, but honestly, just pull up anything from Chrono Trigger/Cross or Xenogears and that'll convince you better than I ever could. He did a couple Shadow Hearts: Covenant songs that are neat, as well.
I'm not too big on the gameplay, though. It feels more tedious than anything and also incomplete; I see what they were going for in terms of learning special moves on foot and managing fuel/resources when in gears, but I don't think they thought out the progression too well in terms of grindiness and player progression vs enemy progression. Thankfully, everything else about the game carried it for me, though.