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Uncharted 2 was the only one that came to mind immediately, but I agree with the mentions about Metal Gear Solid 2 and Assassin's Creed II. MGS2 improved a lot of what was already great in the first game, and Assassin's Creed II fixed a lot of what was wrong with the first one, as well as improve the things that were good.

As for Uncharted 2, it was largely more of the same, but this time with a lot more variety and a multiplayer component. However, in my opinion it's the variety that really made it that much better.

Back in the day, Driver 2 was also great and in my opinion improve a lot compared to the first game. Again, more variety, but some neat features too. More different cars to drive, environments that played differently (e.g. curved roads), and the ability to walk (it was rather clumsy but it allowed changing the vehicle during missions).

I reckon Total War series has some pretty drastic improvements too. I haven't played them all so I can't comment a lot, but it's really come a long way and I suspect there must have been a jump between some of the early games.