I don't know many people who have played both and not preferred Xenogears, even when Saga was their starting point. The cast is much more fun, the story is actually more refined, the music is better, and it has better, if a bit unsurprising ending. Fei is probably one of the most interesting characters I've played as in the genre, and I don't really feel like I've played a character who is as interesting and as screwed up as he is (though Ashley Riot comes close). Unlike Xenosaga, Gears is a bit better at easing the player into the plot. It does get convulated eventually but by the time it does, you're usually enamored with the story by that point.

Gameplay is much more simple and composes of a combination of weak, medium, and strong attacks to create makeshift combos. You eventually unlock deathblows, which are special wire-fu/DBZ style martial arts shenanigans that activate when you perform specific combos. Mecha combat is basically a bigger version except instead of using rechargeable action points, the moves use Fuel that can only be replenished with certain abilities. This can be a challenge cause the game loves to throw in mutli-boss fights at you.

The platforming is pretty clunky, especially in the Tower of Babel... otherwise, its not so bad, cause its not heavily used for dungeons and story stuff. The second disc is rushed, but I actually feel the game found a somewhat artistic way of handling it. Course by Disc 2, you also just want to know what the hell is going on.

Overall, its a better game imho, and its actually one of my fave games of all time, so you should check it out.

Bolivar: Actually, except for the two fights against Wiseman, and Bart's duel with Id, you can actually win every fight in the game. Its just a bitch in a half to beat Grahf...There are not that many scripted fights in the game.