In my opinion, Halo 2 is still the best Halo game.
Explorability, replayability, and a fantastic mutliplayer experience. Not just competitively, but in a social way too. Superbounces everywhere, out of maps and various other glitches were part of what made Halo 2 so amazing.
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Halo 2 was my first Halo game. The story captivated me and the multiplayer...well, it was the best any game had to offer.