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I will second Jak II. It's a solid enough game; it just doesn't feel like a true mechanical successor to The Prescursor Legacy, which is one of the all-time best PS2 games, in my opinion.

I know this will be sacrilegious to many, but Killzone 2 really left me cold, at least in terms of the single-player campaign. I'm actually a big Killzone 1 defender. Love the story, the multiple playable characters, the secondary fire modes on most weapons, etc. Killzone 2 ditched a lot of what made the first game special.