I never played 1, have played the rest.
2 is my overall favorite. The writing, humor etc. is just the strongest of the three I've played (discounting Tales from as that's a different type of game) and that's the second biggest draw to the franchise for me--the first being chaotic co-op fun with friends that doesn't require the skill or coordination of things like Destiny raids etc.
3 is very close though. It looks (of course being newer gen) much better, plays better, and has the better end game. The plot and writing just isn't as good to me which holds it back. Being able to fast travel from anywhere is a huge improvement as well given how many quests send you a long ways away from a fast travel point/objective giver that you need to get back to to turn in the quest.
Pre-sequel was just fine. Enjoyed blowing through the campaign, didn't like the O2 stuff, just felt a bit janky and less smooth than than 2 or 3, the maps were designed a lot worse with more confusing main paths, tons of tedious back tracking to turn in missions/get to fast travel points etc.