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Difficult question! The game I love the most from these two companies is Metroid Prime. But when I look at Rare during their N64 days, which were clearly their peak, I just have to give it to them. Their N64 output + Starfox Adventures includes many, many gems. Retro sure had higher dev costs, but I'm also sure Rare would have produced a lot more than two games (Prime 1 + 2) during the GameCube days.