The Legend of Legacy focuses more on the battle than the story, but there are a few improvements that could have been made. Let's ignore some obvious ones like the ability to see the differences when changing or purchasing equipment. HP refills to the max at the end of each battle, but Max HP can be damaged and this is what the player has to worry about in dungeons. Max HP can be restored in town at the inn, but it costs nothing to stay and there's hardly any reason to not do it. Having the player automatically refill their HP upon entering the town might seem weird thematically, but simply having selecting the town from the map and positioning the player outside of the inn, implying the rest, would work.
It's a minor detail, but one that would speed up the game and be inline with how it plays already.