You could try
--Tales of Innocence. This game usually has a save point either half-way through the dungeon or right before the boss if the dungeon is smaller. I forget if it has a map function other than the overworld map, though...
--Golden Sun: Dark Dawn. Not an action-RPG, but it does have nice dungeons with maps. There aren't any checkpoints, but you can save at any point in time and pick up exactly where you left off. And I mean exactly. You don't load the game and end up back at the beginning of the dungeon. You end up at the exact spot you saved at last.
--Final Fantasy Crysal Chronicles: Echoes of Time. It has big sprawling dungeons with nice maps to refer to if you get lost... AND you get to save in the room just before the boss, or in a room near where the boss is. And yes, this is an RPG, since you get level ups and stat upgrades and have different armor/weapons you can equip.
If I think of any more, I'll edit them into this post, but right now I'm kind of busy.
I actually considered ToI but right when I wanted to start I read rants about how the game has no maps. I already played Golden Sun and FF, well I always assumed it was overrated crap so I never checked it but I'll check this.
I'll also check Avalon Code.
Well, you don't actually need maps in Tales of Innocence. It's not that complicated to figure out how to get in and out of dungeons. Most of the time, you just need to find your way to the boss and then you're automatically out.