Don’t mistake it for Panzer Dragoon 1 and 2, those are rail shooters and you don’t need to play them
Heresy! Panzer Dragoon Zwei is the better of the two and it's a fantastic rail shooter. Play it! The first is still a great game too, even if the framerate suffers a little.
I agree that Panzer Dragoon Saga is a phenomenal RPG. The combat system is really interesting, and for the time it was extremely ambitious to have a fully voice-acted, fully 3D RPG.