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The Last of Us HANDS down.

During stealth the AI is somewhat easy, I imagine it's due to frustration otherwise and that is why the game is best played WITHOUT listen mode.

Once hell breaks out =>

It continues to surprise and I never forget amazing moments like the video below.

How the enemy communicates with others and you. How they flank you, generally act scared of their friends lives being in danger, protecting themselves. Now add the fact that your companion is calling them out, throwing bricks, jumping on others, commenting when you bashed someones skull in... It's so fucking dynamic, never seen anything quite like it.

Killzone 2 & 3 have great AI too but it doesn't touch TLOU in my opinion.