There's a freeware game called "The Road to Druaga" that's based on the Tower of Druaga series. You can find it here: http://druaga.onoda-pro.com/
However, unless you're playing using the Japanese locale for Windows 10, the game will just show a black screen.
You can always switch your locale to Japanese, but that can cause problems with other programs. You can also load up windows 7+ in Japanese locale in a Virtual Machine.
However, I chose instead to use a program called Locale Emulator, which you can find here:
https://xupefei.github.io/Locale-Emulator/
First, you need to extract the files from The Road to Druaga zip file, with the filenames intact. Unfortunately, the filenames are not using unicode characters, but are instead using shift-jis(I assume).
In order to extract the files with filenames intact, I used a 32-bit version of 7-zip, which I installed from here: https://portableapps.com/apps/utilities/7-zip_portable I used the portable version so it wouldn't interfere with my current install of 7-zip, which didn't work with Locale Emulator. I don't know why it didn't work, but I assume 64-bit apps just don't work with Locale Emulator.
I loaded the 7zFM.exe as Japanese using the right-click explorer extension for locale emulator. I then found the Druaga zip file in the file explorer. I could see the filenames were intact, and when I extracted the files, the filenames were still intact.
I then ran the Druaga exe using Locale Emulator and it seems to work with no issues.
The game menus seem to be in English so I had no problem navigating them.
The readme text file, in the folder, is also in shift-jis so in order to read it you need a program that can read shift-jis. One program that can do this is JWPce http://www.tanos.co.uk/jlpt/extras/jwpce/ but you can also just load the file with locale-emulator. When I opened it with locale emulator it opened in notepad and it displayed correctly. But the entire readme is copied on the download page http://druaga.onoda-pro.com/download where you can conveniently use google translate.
I would share the files with filenames converted to unicode, but I don't have permission, and the readme strictly forbids redistribution without permission.
Edit:
It's been brought to my attention that instead of using locale emulator with 7zip(or some other zip software), you can use Bandizip from https://en.bandisoft.com/bandizip/old/6/. I used the 6.27 portable version because it's ad-free and doesn't require an install. When using Bandizip, you select the World symbol on the toolbar, and select Japanese.
You'll still need locale emulator to play the game.