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Sonic & SEGA All-Stars Racing (and the superior sequel, Sonic & All-Stars Racing Transformed... I even got that twice, on PS3 and on PS Vita) remain my personal favourites in this ballpark, but what elevates Jak X is the inclusion of a storyline.
My only slight complaint is that I'm really decent at platformers... but less decent at racing games, especially racing games where I'm expected to win AND shoot at the other drivers. Continuing the storyline of a franchise in a totally different genre was tough for me back in the day, although I'm hoping I fare better now, and will be grabbing these from the Store once I've cleared some of my backlog.
A standalone, new combat racer with a decent storyline... now there's an idea for Sony's next first-party exclusive...