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1. GT4 launched to an installed base of 17.6m in Japan according to VGC
2. GT3
3. GT4 Prologue

The first GT on PS2 was GT3 which launched to an installed base of 4.4m according to VGC. There wasn't a Prologue for this though, so there isn't really a direct comparison for PS2 & PS3.

Between GT3 and GT4 there was two more releases; GT Concept, & GT4 Prologue. GT4 sold around 60% more than it's prologue, but by this time it was the fourth GT release on PS2.