I used to have mixed feelings on this one, but I've really turned around on it after replaying it some time ago. It has a lot of messy ideas, but I kinda love that about it, and I think they mostly succeed, if you are willing to experiment more and figure out how things work. In the context of the greater franchise, it is still very its own worthwhile experience, even if sometimes it feels like it's overlooked by the games in the series that released both before and after it. Plus, it's one of the only games in the series where I can confidently say I really like all the party members!