I actually prefer the feel of reach over halo 3 but I had way more fun in halo 3 since it had a ranking system.
I still like the feel of halo 2 the most though because I played it so damn much. Whenever I play it I instantly feel at home. I never have to relearn the timing for jumps or anything. It's permanently etched in my muscle memory.
There is nothing about halo 4 that I like. Even the menu layout sucks.
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I didn't feel bad at all going back to Halo 2 after Halo 3 beta. Like not one bit, nor had I missed Halo 3, I just felt coming back home.