 If you liked
Gensoumaden Saiyuuki
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 ...then you might like
Uchuu Kaizoku Captain Herlock
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Though following different settings (Captain Harlock being set in a futuristic setting in space and Saiyuuki being set in a semi-fantasy setting) the feeling of adventure in both is undeniable. You grow an attachment to the protagonists almost immediately and can't help but support them even if their situations seem ridiculous. The antagonists are, in their own way, sympathetic. Both series' also have a habit of recreating themselves in sequels and so it feels like watching a different series with the same characters which can allow you to fall for the characters again in a whole new setting.
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Recommended by Harlock_Phantom