Spaceship Warlock did it in 1991 but was a Mac game so it went deeply under-appreciated. Admittedly this might fall outside your definition depending on if the

Spaceship Warlock did it in 1991 but was a Mac game so it went deeply under-appreciated. Admittedly this might fall outside your definition depending on if the focus is “3D scenes rendered to 2D” or “pretending they’re full 3D with a handful of actual 3D characters on top.”