Fully enjoying the plot of this show pretty much requires either watching Divine Wars, or playing OG1. It is a pity that Divine Wars was unwatchable even to Mecha fans.
So far the Story hasn't been that deep (story thus far is just unexplained first 7 minutes of episode 1, chase DC remnants, DC remnants steal mech), its just that new people to the series have no idea who any of these main characters are, so they all feel random and out of left-field. Like when the SRX people show up, you would have no idea that Ryusei was pretty much the main character of OG1/Divine Wars (where Kyosuke is the main here). You wouldn't have any knowledge about Latooni or her past. And you wouldn't have any idea who the SRX people like Rai or Aya are either.
But at least I hear they are focusing alot on a certain fight down the road, which hopefully will be the greatest scene ever in anime.