Unfortunately neither of us have had the chance to go blasting through the desert. But we have offroaded a bit on the east coast (camping, trails, beaches), overall comfort was a factor and looks (very subjective I know). Its hard to argue the tech in the gen2 not being superior (similarly hard to argue its not even better in the gen3). Likely the most unpopular opinion, the powertrain, while not a v8 you get more power, more torque, and better gas mileage. Sure its missing the proper rumble (hence agreeing with the soul comment), but turbo noises are fun in their own right. Additional benefit of the sewing machine with snails is increased tunability per dollar spent or rather not spent.
I think what I've found true across a bunch of different platforms I've owned (wrx, STI, corvette, type R - yes I was in an entire different driving segment before getting into the Raptor) is that the original will always take on some sort of GOAT status. Consecutive generations build on that and while there are often things you would prefer not change, rarely do they go backwards in terms of tech and capability.
Looks on the other hand, that is just a can worms - I think the gen2 is a nice shmedium of the 1 and 3 in terms of aesthetics. Ill be the first to say that I would likely err on the side of preferring the older models in most categories of vehicles, and I have a true appreciation of driving analog vehicles (that doesn't make them better though, maybe just more fun). If you think about it, the "first" model of vehicle you take interest in is what compels you to entertain the newer model. Sometimes newer models look better sometimes they look worse. You couldn't pay me to drive a new wrx, they are hideous and my love for my 2003 bugeye (also hideous to many) wouldn't allow me to enjoy the new one properly, its just plain ugly. That said, while I loved my C6 the new C8 looks amazing, but I didnt care for the C7. Fact of the matter is they both wipe the floor with my C6. Bottom line - looks are important but capability of the vehicle to do what its intended use for reigns supreme at least in my book. I dont love the current trend in vehicle aesthetics, way to space shippy - but capability is only increasing, and I would say most people on this forum and in the other classes of performance vehicles can identify with that thought process as being a positive trend.
