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Starfox had all these hiccups simply because "on rails" is a negative term these days, thanks to sandbox, rpgs, and shooters were it's all about you exploring.

My favorite Starfox game is Adventures, i know that is was supposed to be something else but it's still a great game but i agree that it's not a true Starfox game. Assault is fun for it's splitscreen multiplayer and the different vehicles to choose from, the story wasn't bad but the controls, the sub par graphics and the short story mode made it ultimately a dissapointing game. I respect your opinion on Command but i think the game is awfull and the worst in the series! I've got not idea what to expect from SF after this game.

So i guess the original StarFox is the best you can get.