Actually, Sonic Heroes is okay, but the later ones are worse. This game is straightforward and not particularly annoying. It has a few kinks, like a lot of games, though.
The only problem with heroes is that occasionally the controls are too tight, but most of the time it's okay. It's just REALLY HARD in general.
But the level design is, at times, the best I have seen for 3D Sonic games -- Power Plant Zone is brilliant, and the artistic style is a logical progression from the originals.