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JEMC said:

I only played 2, that I really liked, 3, that was an improvement in every aspect, and 4 that, for some reason, felt boring.

My vote, then, has to go for Gran Turismo 3.

Yeah, even though it lacked car selection over 2, it felt like every car was unique and had more charm/personality to the vehicles. And definitely some of the best graphics on the PS2 if I say so myself.