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Probably;

Fire Emblem
Zelda
Metroid

In that order, though I haven't played a Mario RPG game, or Xenoblade. Have played Kid Icarus, and it's 'story-heavy', but to name that one as one of the best story telling franchises after just one game (okay there's actually three, but the two old ones didn't really have a story) is probably taking it too far.