My personal favourite is either the Earth strike or the Nexus strike on Venus due to the ease of reaching the boss without developing arthritis in your left index finger from riding your Sparrow transplanetary. The bosses also seem to die by how much damage you actually do to them and not from some scripted coding which determines after how long the boss should finally die, Valus T'Aurc being the obvious example.
Happy voting! No arguing!
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I like earth the most too it's always fun. The mars tank one I can run the fastest though. Most of that stuff you don't have to fight just run by.