Doom on the Atari Jaguar was pretty amazing for the time.
Vastly superior to Saturn, 3DO, 32X and Snes SFX versions and competing nicely with PS1 for frame rate and feel although not quite as many levels.
https://www.youtube.com/watch?v=04Q_Jl7nGdM
I know the Jaguar was described as a 64bit console but at its heart was a 13mhz 16bit 68000 and its GPU wasn't even 64bit it had 2 pretty weak 32bit GPU's (added together to make the 64bit claim if I remember rightly) and many games on Jaguar struggled to improve on Snes and Megadrives games. So a pretty decent version of Doom was quite surprising.
Wolfenstein 3D on Atari ST is pretty impressive too. About 11 minutes in if you don't want to watch the other versions.
https://www.youtube.com/watch?v=LpZsDuG-Q9k
Lastly Battlezone on the Atari VCS. Yes they abandoned the vector graphics to get it to work but what they achieved actually seemed to play better than the vector version. Probably the original impossible conversion that no one expected.
https://www.youtube.com/watch?v=L4d6nNI4UrI
