Most people think Daggerfall is better (even if it's understandable since Arena is older), although they think Arena is damn good too. I do, for example. But again I agree that dungeon maps in Daggerfall are impossible and they take quite some joy out of crawling. And Yoga isn't the only one who prefers Arena over Daggerfall, of course.
Do get Arena (from here, or it's free from ElderScrolls.com too).
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