Minato is the only better character really

Yusuke is like a Junpei upgrade, Yukiko a Mitsuru and Chie a Yukari

Meaning he's not an idiot, she's not too uptight, she's not so moody as is more of a free spirit

Also the whole other dark side view of their personalities makes us more connected to them in my opinion

Also the dungeon system is alot more interesting than Tartarus, both in design and in shadows