I wouldn't use the "legendary" adjective for this game (or any platformers outside of Super Mario 64) but it was indeed the swan song of the Dreamcast and Sega's hardware in general.
The Sonic Adventure games are honestly the Blue Blur's best 3D outings to be honest. They're tied with the Spyro games (specifically the original trilogy and Legend: A New Beginning) and Raymans 2 & 3 as my favourite 3D platformers.
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