I think Tomb Raider is a true 3D on sega saturn since it smooth and no choppy. I could be wrong though.
I'm actually playing through this right now on my saturn. It is 3D but again a top down view like dark savior.
I really want to play the Saturn version but I think I'm going to have to go through the PSX version first so I can understand the story and plot. The Saturn version looks superior in almost every way which is surprising, I just wish someone could replace the text boxes with the PSX ones, I'd even pay them to do it!!!
If that game counts then so do nearly every other 3d racing games. Some of them push quite advanced graphics too (Scorcher, Sonic R).
There is a full game script on gamefaqs. I just play with my iPad open. Did the same for Lunar Silver Star Story MPEG Edition.