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Ps2 Sotc or MGS:3 subsistence
GC, without question RE4 with a nod to Twilight Princess.
I think the system that really pushed the envelope was the Genesis/Megadrive. The other systems did what they were supposed to, mode 7, increased poly counts, whatever. The Genesis did all kinds of crazy things the hardware was never intended to do such as pixel scaling and rotation with multiple parallax scrolling, albeit the scaling/rotation was software based it was still impressive given the era and the machine it was on.