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TP easily. It had better dungeons, better overworld, and better atmosphere. SS gets a lot of love for providing lore, but the art style attempts to strike a balance between cutesy and realistic that just doesn't work for me. Skyloft is a barren wasteland and all progress is linear. I play Zelda mainly for the exploration and while TP had dozens of nooks and crannies and fun things to explore, SS was a linear slog through barely populated areas. And this isn't even getting into how annoying/unresponsive the motion controls were for me. SS is the only 3D Zelda I haven't finished; I got bored halfway through and never saw a good reason to go back.

BotW > TP > OoT > WW > MM >>> SS