The non-quest planets are horrible. Pretty much reskinned versions of the same planet. But the planets with main quests or big quests on them are pretty sweet.
I strongly recommend not playing through for the first time as a Soldier. It's easily the least fun class (given that you can't use powers) and the shooting in this game isn't that great.
More on the aiming: It'll take time and the hit detection is slightly wonky (I'm the opposite, in my experience I could hit a guy with the standard rifle or whatever the first gun is from miles away but up close it's ridiculous). But the issues I experienced weren't very frequent, probably because I was not the soldier (I used vanguard).
Yes the radar is random (nothing much more to add to that one).
Difficulty: On normal, I only really struggled with one fight in the game. At the start you have to be a little bit less gun-ho and you have to make sure you give your squad really defensive/conservative commands. Actually, thinking about it now, I struggled with 2 fights. I think the first one was the first major boss.
Don't worry, the game doesn't necessarily get much more forgiving BUT you will get better in terms of stats and your ability to command your partners.
Obviously I recommend continuing with the game, I'm sure your opinion will change once you've gotten used to how things work.
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