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I believe Utawarerumono and Record of Lodoss War, both the OVA and TV, fit this. These are both epics dealing with large army forces in addition to your 'band of heroes'. As I understand it, Utawarerumono happens to be based on a tactical RPG and Lodoss really has that feel to it as well. Lodoss is more dungeons-and-dragons/ Lord of the Rings like whereas Utawarerumono is a feudal Japan sort of time period with animal ears and tails.