They are kinda complicated to rank, honestly. 3 would be the best one if there wasn't so many terrible vehicle courses. 4 would also be the best one if they didn't ruined collectibles. So much hidden crates, repetition and bullshit. I think 2 is the best one but then the final boss is not... great... And then there's 1 but it's my least favorite one of the 4, It didn't age very well imo.
So yeah tl;dr 2 is the best although not perfect, 3 would be the best if it weren't for bad gimmick levels, 4 would be the best if it didn't had bad collectibles in general, 1 didn't age very well.