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Definitely Xenogears. Xenosaga was somewhat of an attempt, 15-20 years ago or whatever it was. And while I did enjoy parts of Xenosaga, it just doesn't compare to how mindblown my buddy and I were playing through Xenogears at 14-15 years old.
Xenogears should have been remade ages ago. It's one of the greatest sci-fi epic RPGs of all time, maybe THE greatest. It's also trapped on PS1, with archaic-looking 3D graphics (that were really nice / ahead of their time in 1998, at least).
I've never played another game with story/lore/etc comparable to Xenogears. The lore takes place over 10,000 years. I think it was originally supposed to be a Chrono Trigger sequel, considering it was designed by many of the same people, and considering there are six or so vastly-different time periods that the story focuses on (though you only get to play the present day, everything else is cutscene and flashback).
Xenosaga started out as a retelling of the very beginning of the Xenogears backstory (10,000 years before present) but since the developers no longer worked for Xenogears owner Squaresoft, they couldn't make it directly connected. So instead they had to dick about with slightly-changing everything to the point that it isn't a prequel at all anymore. So you'll have things taking place in 4748 AD instead of 4747 AD, names slightly changed, and no sign of the Eldridge ship that set Xenogears into motion.
It's a shame because a retelling of Xenogears from the ground-up could have been amazing, and kept Monolithsoft busy for like a decade.
Xenoblade Chronicles X also gets a lot of material from Xenogears without being connected. Xenosaga is basically the first era of Xenogears (10k YBP in space) and Xenoblade X is basically the second era (9600 YBP and post-crash). But neither is connected so it's all just concepts being reused.
Xenogears getting the respect it should (a remake, remaster, sequel, prequel, basically anything) should probably be at the top of anybody's wishlist who liked 90's Squaresoft RPGs. Cause it probably ain't ever happening.