What planet is better than earth to infer solar system configuration? The mankind had to work some centuries to infer the real configuration of solar system, starting from greeks, Ptolemeus, until Copernicus, Galilei, Kepler, Newton etc. Is there any planet where we could better/faster determine the configuration?

(For example, having a moon is an advantage. Maybe having two moons(or none) or having a thinner atmosphere or being closer/farther to the sun may helped.)

The area of the question starts from inferring the form of the planet(round) until the discovery and orbits of all eight planets.

PS: The question ignores the fact that life is not possible on another planet. It is from pure astronomical viewpoint. On Neptune you have a different sky, so other questions/answers.
I will argue Mars.


A smaller diameter makes it easier to determine the round shape of the planet, and determine the diameter more exactly.
A thinner atmosphere and almost no clouds are better conditions for sky observation.
The small orbital radius of the Mars moons makes it easy to figure out the distance to them. (For example, Phobos is only in the sky about a third of the time seen from equator). Also, the fact that there are two of them makes two data points to discover Kepler's third law.
Closer vicinity of the asteroid belt calls for an earlier discovery of objects with an irregular orbit.
The Moon is a much closer example of something orbiting another object than Galileo’s discovery of the Jovian moons. "Mars is the centre of the universe" disproved.