Mod Team and Bat Team
And it was the best you could do in 1998, without a doubt.
As for Saturn being rushed, maybe in terms of tools. But in terms of hardware, their intention had always been to merge both 2D and 3D capabilities. And SEGA were well versed in multi-CPU development in the arcades. Many 3D games on Saturn are outstanding for their time by the way.
I love the Saturn don't get me wrong, but there is more to consider than hardware and dev tools. As I understand Sega USA was blindsided by the announcement of the early Saturn launch, so you have to imagine this affected their marketing ability as well.