I also fall into the group of people who prefered ME1, I got on better with the characters, and the RPG elements obviously weren't as simplified. The combat was definately better though in the second although it could get repetitive, and the inventory elements had needed refined from the 1st, but not as much as they did for the 2nd.
Like a few people have said, I genuinely hope the 3rd is a mix of what made the 1st and 2nd game good, rather than moving even further away from the 1st.
The second game also felt so so small compared to the first one though, even the hub areas were much smaller. The Citadel just seemed like a clear example of what had happened to the entire game. Didn't really care much about the new characters either. Legion was kinda cool, and Garrus and Tali were returning favourites, but most of the rest I just didn't really care about that much.
Hopefully all 3 of them will have strong roles in the 3rd game. The Shadow Broker expansion also hints that Liara should have a prominent supporting role even if she doesn't end up as a team member, but we can always hope. I wasn't a MASSIVE fan of her in the first game though. If I had to chose a team of five from the series, along with Shepard it'd be Tali, Kaiden [Carth

], Garrus and Legion all the way. Kinda got more of a feel for the characters from the first one for some reason, I'm not really sure why, but I just didn't find them as...interesting.