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If Falcom is happy with it, then it's not a commercial failure as you seem to suggest. Having evergreen sales shows it's a sleeper hit even if it can never rival the Ys franchise at this point in time.
Falcom could use a variety of successful IP since they are a small studio. If they work on nothing else but Ys, they'll get stuck and it'll take one bad Ys game to kill the company.