I think RPGs like FF need to be linear to a certain degree to be successful in its storytelling. For pacing those special moments.
But what the hell do I know. hahaha~ 
You know, FFXIII does just that, but not only in the linear parts, but in your exploration as well.
For exemple, when you reach the really first big area of the game you have the option to just go along with the plot or explore at your will, I've been doing side missions, leveling for more than 10 hours, and believe it or not, even while doing that, there's still plenty of talk among the party.
Some places don't even have nothing special, but just by reaching that spot on the map you trigger a cut-scene.
Now I decided to move the story foward so I can farm for levels latter!