Legacy is a 3d HiRes Dungeoncrawler from Redshift, who also have the RPG games The Quest and Dragonfire here.

The game has a few add on adventures and a level editor to make your own maps.

Since the company is still active and has a website where you can order their games, I'm only attaching the demo here. Support the company with purchasing the full game and its addons if you like them.

Compatibility

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