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Just realized I never actually answered this.

If I had to narrow it down to just one game, I'd say Xenoblade Chronicles. From its unforgettable world to its epic story to its sublime soundtrack to its deep RPG gameplay, it's just a fantastic experience through and through, and one of the most memorable of that whole generation, for me anyway.

Honourable mentions go to Monster Hunter Tri, Twilight Princess, Metroid Prime 3, Donkey Kong Country Returns, Skyward Sword, Sin & Punishment Star Successor, and Fatal Frame 2/4.