It's always interesting comparing Origins and Legends, cause they're more of the same cloth than any other Rayman game is, but I'd say on the whole I find Origins the more satisfying game to complete, even if Legends has substantial portions of Origins already and has far more content on the whole. There's something to be said about having a narrative (even as watered down and botched as it was), rather than the rather empty narrative of Legends.
It also helps having bosses that have some personal connections to events at large, I suspect this one isn't an unpopular opinion, but man alive - Hades is such a dull and out-of-nowhere boss to end things on. It's funny cause I think Legends' boss fights in general are much more involved than the ones in Origins, but I still find Origins' battles to be more satisfying.