I'm loving it on 3DS. Easier to control than Wii. I hated Wii controls for a normal game like this. Love how they got all the speech in it too. And the 3D on the new console is super crisp. My only complaint about Xenoblade is they didn't use the 3D properly, it's more like they are just flat characters with a background behind them (if that makes sense).
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Never tried the 3D function of the 3DS myself, I don't like 3D stuff, but I'll have to check it out.
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The 3D is only a gimmick, but I enjoy it :)