Depends on the game, generally no. Some RPGs have good side quests and non-campaign activities to allow plays to level up so they're more able to handle the main campaign, in those cases it feels less like grinding and more like part of the adventure. The one game I felt that handled it best for JRPGs was Persona 3 and 4, and I feel these games did a better job of it because of the pacing, and the time of day to explore the shadow world was broken up between school, social activities, work, studying, activities to build courage/academics/strength, plus there were objectives to achieve in the shadow world taken from the Velvet Room, and there was always good opportunity to run into some loot like armor or weapons or even new persona to keep or fuse. Western RPGs generally handle it well, games like TES: Oblivion had a good amount of sidequests. By contrast Skyrim fucked it up, because sidequests generally didn't have their own crafted story they instead relied on auto generation of the simplest kind, like "Jarl wants to you kill a troll/dragon, kill it and come collect your reward", or "go steal a chalice from this home and collect your reward", they weren't the kind of crafted side quests with story and multiple solutions that we got in previous TES games. But, I typically dislike any RPG where you hit a wall in exploration or the campaign because of a lack of skill, leading players to run circles earning XP in order to level up enough to progress.
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