Akuma no Ran

Long ago, in days of yore there was a single maiden who purged the world of the heir of Orochi. She did this at great personal cost, and for it she was crowned Queen of Yamataikoku, she was Pimiko-den. But now more than half a millennium has passed, and her descendants the Emperors of Yamatai, have sunk into corruption and banality. Their servants and regents are no less obsessed with court-intrigue and pleasure, little knowing of the great evil that has awakened once more in the north. This is like Friren meets Samurai X & Dragonball Z