 If you liked
Gensoumaden Saiyuuki
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 ...then you might like
Hunter x Hunter (2011)
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Both series show more realistic characters and character relationships than most anime I've watched. Main characters aren't stereotypical shounen heroes and will actually kill things. Both centre around a group of four friends who each have good character depth making you feel attached to each of them individually. Everyone knows how good hunter x hunter is but saiyuki still remains relatively unknown to most people so I suggest you give it a try
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Recommended by TheAlmightyZ