After FE5, Shouzou Kaga, the creator of Fire Emblem, left Nintendo to found his own company. He decided to pick up right where he left off with Fire Emblem Saga, a game with literally the same setting and characters as Fire Emblem. Nintendo said excuse me WTF, and took him to court. Interestingly, while the courts forced him to remove all explicit references to Fire Emblem, they did not find him guilty of copyright infringement, establishing a precedent allowing independent creators to make spiritual successors to their former works even if the IP was now owned by their former employer.
So that is how we got TearRing Saga: Yutona Heroes Chronicle for the PlayStation in 2001. It is a terrible game that would have made a pretty good novel.