I know it's not on a console you specified, but neverwinter nights 2 (D&D ruleset, selectable party members in main game, make your own full party and open ended in the 2nd expansion) sounds like it's exactly what you are looking for if you have a reasonably decent pc. I've seen its platinum collection on sale on steam a few times lately.
As for the consoles your closest hits are as people have mentioned, the first person exploration games (class of heroes, etc...) or SRPGs (Disgaea, FFT...).
Although, and this suggestion may be way off base, I'd almost think FF12 (if you have a backwards compatible ps3) could fit the bill, as long as you build your characters in a consistent way to make them fit traditional class roles and don't just make everyone learn everything. I got a strong dungeon crawler vibe from side quests in that game with a group of dedicated-role (and often underleveled) characters, when you need to use cc and can't just mob everything.