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https://grandia.fandom.com/wiki/Category:Bonus_Dungeons
Soldier's Graveyard and Castle of Dreams are both in the Zil desert, so you can clear them pretty early into the second half of the game. A lot of the equipment you get from them will last you pretty much until the final couple of dungeons.
Tower of Temptation is accessible via the Savannah Wilderness and is probably the most difficult dungeon in the game, it has a bunch of end game gear.
That said, Grandia is pretty easy and they're entirely optional.