sonic heroes was pretty well received when it first released, and it was also a major success. ppl were really excited to play as so many different sonic characters in high speed action stages and without the other previous play styles from the adventure series, but I think this game and the adventure games just were seen as "suddenly bad" over time as more ppl went back to these games and couldn't adapt to the controls as easily again and deemed them as slippery, glitchy messes
when I came back to sonic heroes recently it took a while for me to get accustomed to how these games played again after I've been playing the 2D games for so long, I was mostly doing all platforming as the fly formation just in case I happened to "slip" and fall off a platform, but after spending a lot of time with the game I got used to how the games momentum worked and I can comfortably platform over bottomless sections as the speed type characters without worrying abt messing up as much
is it a bad thing that I need to adapt to the different physics of heroes, shth, and 06 every time I come back to these games? maybe, I think most games have a hard time trying to figure out how to control sonic at such high speeds vs adventure which had high speed action but sonic didn't move as fast as he does in later games (unless you were rapid spin dashing ofc)
I think heroes was the perfect blend of getting to play as multiple characters while still having "speed" stages, I liked that there could be dynamic set pieces and obstacles that required thinking abt which character was best suited for each job, it was fun getting to switch formations for different situations and even shortcuts, hang castle is probably the best example but bcuz of the way the stage is laid out you can skip large portions of it by jumping at the right time, though it wasn't as intentional as some skips in the adventure and 2D games, it still feels great to accomplish
but I completely agree with you, I don't think heroes deserves to be considered "the worst", even if the controls take some getting used to or there's moments that don't script properly (I've had multiple missed ring dashes that have led to my death), but I'm glad ppl are moving away from the "sonic sucks" mentality that was happening a lot on the internet in the 2010s or so
sonic heroes also probably has my favourite models of the series next to riders, I know the models look "plastic-y" but there's smth genuinely charming abt them, riders and zero gravity essentially use the same models but zero gravity gives them some updated textures on the fur which I think if smth like that happened for sonic heroes the character models they could be almost like adventure 2.0 models
... but I'll stop there before my post becomes too long-winded, I just have a lot I can say abt this game a lot of the GC-era sonic games bcuz they were all fun back-to-back experiences for me when they released
and when I replayed them all