That's a though choice, i mean of course no game is perfect, however this 2 games are indeed amazing, besides they are way too different to compare them.
Anyway, for me SMG was the better game of the SMG games, because the concept was fresh and it really left an impact on me, and while SMG2 has some of the best levels ever designed on a video game i still prefer the first one.
As for Dark Souls, the game is definitely one of the best RPGs this gen, the atmosphere, the boss battles, the music, the combat, they are all pretty amazing, however it has some serious flaws, like the framerate (hell, Blightown its a flaw on its own despite the great boss battle) and it gets kind of cheap on certain areas, still the experience with the game was great.
For me, the better game on a technically and even artistically point of view, is SMG2 since the level design is just out of this world, however i think i enjoyed Dark Souls a little bit more because of the overall setting.
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