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Why is the quality so bad? How can I improve it?

All PS2 games look really blurry on Panasonic Viera TV.

For comparison, when I play the Jak trilogy on PS5 (which is just the PS2 ports), it has a sharp and crisp image. But the same games on an actual PS2 are much lower quality. This leads me to think there's some scaling issue that the PS5 automatically fixes since I don't think they remastered it or anything. And the same applies to every PS2 game.

It's currently connected via RCA component cables, and I tried messing with the game mode settings on the TV but it didn't really do anything noticeable. I'm wondering if I should buy a PS2 to HDMI converter or if that might be even worse than the current set up. I don't have much money I can spend but if I need to I will, just whatever it takes to get it looking good. It looks like sh*

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