Tokyo Xanadu and Trails of Cold Steel both follow a Persona-ish way of being RPGs mixed with socializing with party members and their community. I particularly find their social aspects stronger than Persona because they’re tied to the main story, meaning characters will often having interactions that are based on main events and not completely divorced from their plot/character developments, as well as having a more colorful cast of side characters.
Cold Steel is a fairly long series though - By itself its 4 games long, but its also part of a much larger universe and has some crossovers with other Trails games. I played the first 2, which are a somewhat self-contained story, without much issue but AFAIK they get denser from there on.
Xanadu is a more action-y game, in the vein of Ys, if you’ve played those, instead of being turn-based.
The Yakuza series also has some very strong characterization and side activities involving multiple characters, as well as a multitude of minigames. Like A Dragon (or Yakuza 7) is a soft reboot with a new main cast and also follows a more traditional turn-based RPG mechanic, highly recommended.