 If you liked
Berserk
|
 ...then you might like
Zelda no Densetsu: Twilight Princess
|
Both have male protagonists that kick butt and look badass while doing so, travel through dimensions, and have inhuman sidekicks.
Both protagonists search for a woman at some point.
Both protagonists team up with others to combat something.
Both take place in approx. the medieval period.
Both protagonists fight with a sword.