>>712823582X Definitive Edition's Chapter 13 starts making connections to the numbered games, before that there wasn't anything explicit.
The original release order was
Xenoblade
XenobladeX
Xenoblade2
Xenoblade2 Torna
Xenoblade Definitive Edition (with Future Connected)
Xenoblade3
Xenoblade3 Future Redeemed
XenobladeX Definitive Edition
But in terms of how you should experience the narratives
1 > X > 2 > Torna > Future Connected > 3 > Future Redeemed > Chapter 13
2's DLC outside of Torna includes significant content concerning 1 and X, it's worth checking out for all the fanservice.