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Uncharted is fun, but it's pretty basic. Think of it like a big summer blockbuster. Style over substance. Fun but not fulfilling.

Arkham Asylum is pretty great. I loved it even though I wasn't a big Batman fan. It's a sort of Zeldaish adventure game with simple but fun combat and a pretty good story.

Based on the games you're playing now, I'd probably go Uncharted first. It would be a quick (couple of afternoons) game and a good change of pace from the more slow paced games like Zelda and FF7. Haven't played Castlevania or Sleeping Dogs yet.