Yeah the 7th gen was phenomenal; intense competition drove all three console makers to excel, and shitty modern trends like aggressive monetization hadn't yet taken hold.
Of the runoff candidates, I'll go with Uncharted 2; it solidified the template for the blockbuster action adventure game which remains a staple of the industry to this day, and its setpieces were memorable and well choreographed. Didn't hurt that it was drop dead gorgeous either.