Yes… I’m going to give it to you. remembering the name is not that important…
It’s Prinny 2: Dawn of Operation Panties, Dood!
I love the Prinny games, and the little Disgaea revival we had going on the forum reminded me of this game. Hard as nails platformers with lots of secrets and skill needed for the harder stages. Much less grindy than Disgaea, but a solid attempt at translating the ethos from SRPG to platformers.