I finished Ys Origin. You have to beat it three times to get the whole story, and even after that it unlocks a bunch of side-modes, but I'm not really interested in those.
Honestly if the entire game was like the third loop I woulda been thrilled. The character you get last is just moves so fluidly while the others are either clumsy or slow.
I also feel like it woulda been more impactful if I knew anything about Ys >__>