FANTASIA SANGO - REALM OF LEGENDS

When the Three Kingdoms are ravaged by demons and monsters, four heroes with little in common must unite to fight the realm’s most vicious enemies. Together the heroes unveil an insidious conspiracy while sharing the joys and sorrows of battling a mysterious organization intent on tearing them and the kingdoms apart. (Source: Funimation) — Description from AniList community (anilist.co).