If you're already late into the game it's tough. First thing is go back to old areas and make sure you've cleared everything you can. Sometimes a hidden chest will be lying on some road or niche you didn't fully explore. Pick up any quests you may have overlooked. Another thing you can do is buy upgradable items, upgrade them, and then resell them for a profit.
If you start up a new character, be sure to invest in one of the money making skills early in the game (I like Trade, because it's cheap, and forces you to get the combat XP bonus).
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