When given the time and resources to produce a complete and well polished game, Factor 5 can make some technically impressive and enjoyable games; I would much rather they worked on a flight simulation like Starfox because their ground based gameplay has been (very) clumsy in every game since they made Indiana Jones for the N64.
As far as Kid Icarus goes, I don't think any developer would produce the game I would like them to make ... I think the title has a lot of potential to be made as a hybrid Banjo-Kazooie styled platformer and a Zelda styled adventure game







