They're both about even in my view, each with their own sets of faults and positives that balance them out when comparing to each other. The one thing I did like more about Rescue Fire is that a lot of the characters were a bit more personal at the start of the series. It took a while before you started seeing a decent amount of out of suit scenes in Rescue Force, while I always felt that Rescue Fire did a good job of keeping the nice balance between the two.