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Armored Core (PS1, 1997)

3D Mech-based TPS w/ in-depth customization (9 parts+2-4 weapons+optional upgrades), Mission-based, Some maze areas (and some missions tie into previously visited areas), Shop (in-between missions)

Partially non-linear structure (choose between 2-4 missions to do in any order until the late game, what you choose affects your path as some missions are missable, one optional boss/rival mech, some hidden items, can abort/fail a mission and keep going)
Unlock all missions including missed ones after beating the game
Save between missions
No ability gating besides a soft one for the booster and legs parts in the final mission
Resource and weight management
3D maps, Radar
Can't revisit mission areas/replay beaten missions nor hang around after the objective is finished to pick up hidden parts (some mission areas actually connect to previous areas but I don't think you can use this to collect hidden parts). However you can replay all missions+play the ones you've missed after beating the game once (load your last save)

Playthrough - Mini-Review