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It's a space Nintendo as a whole doesn't usually delve that deeply into, but i'd say Xenoblade Chronicles's story rivals almost any JRPG's. The genre has a habit of aiming for narrative goals beyond what it can reasonably achieve which ultimately leads to stories that feel unfocused, and occasionally just outright bizarre (bless your heart Ar Tonelico). Xenoblade Chronicles certainly skirted the edges of the latter on occasion, but overall it's extremely good at hitting the right notes when and where they're most needed.