The Saturn was a huge mess for Sega and really was the one thing that caused it's final downfall. The mistake was during development when they initially designed the system architecture with 2D sprite manipulation as the key focus, and no real true 3D capability. A late revision of the design added 3D abilities, but nothing on par with the original Playstation. And due to the dual processor architecture it was hard to code for too. But regardless of this the system did see a few good 3D releases. But these were shown up when run next to the PSX versions of the same games. Especially as you mentioned Tomb Raider.

But they started getting it all wrong with the development of so many addons for the Mega Drive. Rather than developing the Mega CD and 32x they should have put their effects fully into a true 32 bit system a the time and the development could have seen a much better true 32-bit system.

For me though the greatest Sega console is the Dreamcast.