Over at our house we have a multitude of gaming systems (Wii, Xbox 360 and PS3) and yet when we are in the mood you describe we fall back on an old faithful game called...
"Gladius" for PS2.
It's very very much like d20 games. You play as a group of Gladiators, growing your school and battling using a grid interface. It's loads of fun, turn based and each of the characters in the game has their own "Skill Tree", making each character VERY VERY customizable (to give you an idea, the games hero can be built into a HP/Defense TANK or a brutal attacker.
The game also has Arcane/Divine casters of sorts and is pretty long (around 50-60 hours of play with a good replay value)
here is a link to some relevant info
http://www.gamespot.com/ps2/rpg/gladius/index.htmlif your against the turn based sytem then try out "Champions of Norrath" on PS2, it's alot like Baldurs Gate, it's just not associated with Wizards.