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They are fantastic, I never finished Xenogears (only got to half of Disc 1), but the Xenosaga games are amazing (1 and 3 are some of the best PRgs you can find on the PS2, 2 is good, but not as good as the others). And if you're looking for a good complex story (and if you don't mind very long but enthralling cutscenes), Xenosaga should be your choice.

Also, all three have some of the most addictive boss battles ever, they take a lot of time to finish, it makes you feel really good when you beat them