A lot of these complaints were the same ones people had about Xenosaga Episode I, the only difference is there is also a lot of positives to be said about this game.
If they develope the cast more (and just make Cross an actual character), then Xenoblade as a whole could be the best in the series easily.
I also have a feeling that they will tie the two together. The ending of Xenoblade X strongly hints at it being FAR more than a "loose connection".