Neither game is really that open, but they both do a fairly good job of making working through linear paths feel like exploration. The only difference is that Jak 2 only opens certain paths at certain times through various mechanics, whereas the first game had levels like the Snowy Mountains where there were 3 different paths you could go down from the beginning.
The hub world of Jak 2 is really bland and boring, sadly. It works well in missions, but moving between points can just get really tiring. Maybe I've played it too much, but there is really only one path connecting most points.
The 3rd is the strongest in the series by a long way. It had a much more interesting hub in Sargus, but the changes they made to Haven City when you go back there make it much more tolerable. It feels more hectic and cluttered, but after playing #2 again that's really a good thing. It's a pity it was so much easier than the others.
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