Sonic Heroes is both better and worse than I remember, its controls are pretty jank but you get used to it after a while, most boss fights range from mediocre to bad, and while Team Sonic's and Team Rose's campaigns are great, Team Dark not so much, they try to make the stages harder but it ends up just being annoying, and Team Chaotix' stages are hit or miss.
Last Story is cool tho, fr my only complaint is that when you use the Team Blast attack the music stops, and Metal Overlord's theme ('What I'm Made Of' by Crush 40) is one of my favorite Sonic songs.

Overall, while not what would I call great, Sonic Heroes is a 'pretty good' game.