never played D1 so cant answer there.
love titan. but its close between titan and EDZ.
the order i do dailies is :
mercury - get it over and done and move on
nessus - used to dislike it but since osiris dlc i find i like it a lot more. its grown on me. love both of failsafe
io - this one opposite has happened. like the adventures. liked more than nessus now its other way around and seems emptier than other worlds.
titan - small, but somehow i really enjoy it, usually i have an excuse to visit the arcology also.
EDZ - huge, lots of regions, lots of sectors.
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oh someone said io looks like a small yellow mars copy from d1 dunno if thats true. D1 isnt on pc, so never played.