Depends who you ask. A lot of the song titles from this period didn't have names.
On Disc 2, Track 1 is "Theme from Jack Johnson" or "Right Off" if you prefer. Towards the end, it becomes "Ife," which continues onto Track 2 until "'For Dave" comes along.
On Disc 1, the track timings for the Preludes aren't correct. The first prelude is often called "Funk" while the second tends to go by "Agharta Prelude."
For Pangaea, Disc 1 is "Turnaroundphrase/Tune in 5/Turnaroundphrase", followed by "Zimbabwe," which is Track 2.
Disc 2 is "Ife" and "For Dave."
Some discographers name some of the songs after the titles on Dark Magus, which are Swahili for 1-4, but to me that's like calling a song "Side One."
I don't have the original albums, or the Japanese issues, which apparently have more music (about 10 minutes so in the case of Agharta), so I can't comment on the sound of the Legacies, other than to say it's time these were remastered.