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Halo 3: ODST is my favorite. The brutes are my favorite enemy to fight and it was great as they were the main enemy. The jazzy soundtrack was really memorable and made traveling the abandoned city at night really atmospheric, and I've sunk countless hours in Firefight.
After that it would have to be Halo 3. Even though I hadn't played Halo 1 and 2, that game really felt epic, and seemed like the stakes were high. Great soundtrack, fun missions and an epic story.

The only other Halos I played was 4 and Reach and they were also good, but the two aforementioned are on another level for me.