Jak & Daxter: The Precursor Legacy, because it is the only good Jak game. Jak 3 in particular, with its incredibly boring race sequences in the Damn Desert (capitals because this must be its official name), horrible mission design, a lot of empty room and even a revisit of the abysmal town of Jak II, there is so much pure shit in Jak 3 it's hard to appreciate its few good spots. Jak II was even more over the place with its difficulty and the town was even more of a mess than it was in Jak 3, but there were quite a few fun platforming missions at least. Overall my valuation is:
1: Good
Daxter: A bit better than OK
Frontier: OK
2: Bad
3: Total shitshow