For the next game I would:
>get rid of the ten thousand collectibles that barely have a use
>try to minimize regularly having to go into the menus
>have a class system but don't require constantly switching classes or class points go to waste
>keep the combat party based and real time
>stop padding the game with ridiculous amounts of side quests that just have no point to existing beyond very minor world building at best

I have no issue with the golden hearted 'power of friendship' we must carve our own path style of story telling. That's basically what I play jrpg's every now and then to appreciate. Childlike optimism.