The three titles The Sands of Time, Warrior Within and The Two Thrones together make up something like a triology.
So you shouldn't regard the letter two as sequels to the original. They both have at least the same quality, continue the storyline and improve in little steps.
Warriot Within introduces a new character , which is important for when playing the last part.
Of course you can still play them independetely.
But I can only advise you to not skip on Warrior Within. It's my favorite part of the franchise.
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