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I beat Metroid Prime on Hard Mode without any health/missile upgrades. It's generally not that difficult since you get health and missile drops all the time. The exception would be the Phazon Mines (no savepoints, Power Troopers, Invisible Drone fight, morphball puzzle, Omega Pirate), and the excruciatingly long (PAL) fight with Metroid Prime, where you die in two hits.

The other games I never bothered replaying.