Panzer Dragoon Saga: An Oral History Didn’t see a post on this and it is a bit old but James Mielke did this fantastic writeup of PDS and the series as a whole that includes exclusive Interviews with Futatsugi and most paramount staff

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It’s a great article, with lots of information on the development of the games. We’ve referenced it a lot over on Panzer Dragoon Wiki and used much of the artwork on this here website.