This is gonna be one of the hardest ones to , since I remember very little about this game. I'm 99% certain this is a ps1/ps2 game. I remember this one stage where you were on a plateau with some rocks and enemies. You then went into a tunnel. About halfway into the tunnel, on the left side, there was a hole with a path going to the right (leading to a stronger enemy I think). At the end of the tunnel, there was something like a lava area, with floating platforms going around and up.
Source: https://www.reddit.com/r/oldgames/comments/12mxpqo/old_console_game/