Jak & Daxter/Ratcher & Clank trilogy were goated. I know a lot of people throw around "they don't make them like they used to anymore" but in term of those two franchises on the PS2, they really don't.
As an aside, I picked up the newest Ratchet & Clank on PC and was disappointed. They tried making it so much more cinematic and story-focused with tons of scripted scenes. Also it lacked any of the satirical humor the original 3 had.