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A desperate guess, but Conan the Adventurer? I haven't watched the show but it fits with the genre, age (early 90's) and your first point. Also, your second point reminds me of the castle in the Conan short-story The People Of The Black Circle which I know was loosely adapted for one of the show's episodes.
Edited by painocusWell, it doesn't sound like the novel "Ivanhoe", which was a historical novel by Walter Scott. The original novel didn't have a monster with two faces (one male and one female), and nothing about an artifact quest. Maybe there was some adaptation with a lot of Adaptation Decay?
Yeah, the show was everything but historical. It had CGI monsters, among protagonists were a redhead witch and a migdet sidekick. "Ivanhoe" was sort of "the chosen one" and wielded suspiciously Bright Sword
Unstoppable Animosity. I checked "Ivanhoe The King's Knight" and have seen it before, but it has no fantasy enemies at all and certainly no CGI monsters. And what did you mean by "it fits the description"? Was there an actual chasm jump?
painocus. I have looked into ep 1 of Conan and seems similar in elements, but I don't think it's it. Seems a lot faster, while the show I watched was slower.
I think you may be referring to Siegfried & Roy: Masters of the Impossible. There were both a demon with face on its chest and another with mouths on its hand.
Edited by truenekomancer

OK, this might be hard.
I rented it on a VHS back in the late 90s. It was a Swords and Sorcery show (the VHS had like 4 or so eps) and I remember it being pretty inventive in its designs. Kinda reminded me of pirates of Dark Water. Alas I have no idea where it could have aired. The art style was late 80s-90s, definitely not 70s. Could've been American or European, but probably not Japanese.
What I do remember:
- It followed multiple characters in multiple places.
- At one point there was this castle which was surrounded by a crack in the Earth, which no one could cross. And the hero had to prepare for some time and then jumped it with his horse.
- One of the villains was this monster, who had two faces in its palms (or its chest, my memory fails me) with one being female and the other male. It's main plot was corrupting some king or duke or something into taking some artifact somewhere and it appeared occasionally in its true form, while mostly being disguised as a woman or advisor.
Edited by Shirokurou