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Dreamcast easily.

Granted I never played Master System or Saturn, so only Mega Drive beside Dreamcast, but Dreamcast was so far ahead of its time that it made my family not even bat an eye at PlayStation 2. That alone obviously doesn't really say much, but the system also had SoulCalibur, still the best fighting game ever made, and several of what became my all-time favourites like Crazy Taxi. The system was the pinnacle of the arcade style gameplay, good for short but intense bursts of gameplay and fun. Mega Drive on the other hand didn't really have much that interested me, and it was definitely overshadowed by the sheer onslaught of classics the SNES had during the time. I'd say Dreamcast however is, along with the N64 and the first PlayStation, part of my top 3 of favourite consoles of all time, at least top 5.